Dynamics And Control Of Embedded Flexible Manipulator With Rigid-Flexible-Electromechanical Coupling

In the modern engineering,the application of flexible mechanical arms as typical mechanical components is very common.Flexible robotic arm as the core of the dynamics of the mechanical structure and control problem gets more and more attention in high-tech fields,especially in the robot technology and aerospace technology.High speed,light weight,high precision,accuracy,intelligence has become the development trend of the future.Many aerospace structures and other mechanical components belong to rigid-flexible coupled structures that contain the flexible appendages attached to a rigid body,which can be simplified as the high speed rotating Center rigid body-cantilever beam model to do the dynamics analysis.The researches of dynamics and control problems for rotating smart beams are included to dynamics of flexible multi-body system.In the comparison with the rigid multi-body dynamics in research level,the flexible multi-body dynamics still needs more long-term exploration.In the meanwhile,the important problems of this field needed to resolve is –rigid-flexible coupling system dynamics modeling and analysis and vibration control.Not only in the review of research status of flexible multi-body system dynamics,piezoelectric materials,and –active vibration control,we also study dynamic modeling theory and numerical simulation of intelligent composite beam with the piezoelectric layers undergoing large overall motions.The main research work and achievements are as follows:1.Summarized the status quo of flexible multi-body dynamics research,piezoelectric materials,the process of active control study,and put forward the research target and content of this paper.2.Studied the theory of high speed rotating center rigid body-flexible beam system,flexible beam system,and based on it,we introduced piezoelectric materials to build the rigid-flexible coupled dynamic of a center rigid body-intelligent composite flexible beam system.At the same time,we also established the vibration analysis model of the high speed rotating center rigid body-intelligent composite beam system.3.The shape and location of piezoelectric material in embedded central rigid body-piezoelectric smart beam are studied theoretically and optimized,and the optimum thickness and depth are deduced.4.Based on the first-order modeling method of –rigid-flexible coupling dynamics,we write the dynamics simulation software,and use it to analyze the dynamic characteristics of center rigid body-intelligent dynamic composite beam system.5.Pd control method is adopted to carry out active control of the two different structures,analyze and compare them,and then optimize them.