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为了解决质量矩阵奇异时传统动力学建模方法失效和外力模型与约束力模型耦合时的解耦问题,基于复杂多刚体系统层级堆聚建模理论,提出了一种新的扩展层级建模方法。以挖掘机器人为研究对象,建立了其工作装置的动力学解析模型,并对其进行了数值仿真。结果表明:当子系统质量矩阵奇异时,扩展层级建模方法利用质量补充矩阵可得到子系统动力学解析模型通式;当子系统的外力和约束力耦合时,扩展层级建模方法借助约束方程的二阶形式可获得解耦的外力模型,该模型仅与系统广义位置、广义速度和时间变量相关;仿真结果连续、收敛,表明扩展层级建模方法在挖掘机器人中的应用有效、可行。
In order to solve the decoupling problem of traditional kinematic modeling method and the coupling of external force model and restraining force model in the singularity of mass matrix, a new extended hierarchical modeling method is proposed based on the hierarchical stacking modeling theory of complex multi-rigid body system . Taking the excavation robot as the research object, the dynamic analytical model of its working device was established and its numerical simulation was carried out. The results show that when the sub-system mass matrix is singular, the extended level modeling method can obtain the general formula of the subsystem dynamics analytical model by using the mass supplement matrix. When the external force and the binding force of the subsystem are coupled, the extended level modeling method uses constraint equations The second-order form can obtain the decoupled external force model, which is only related to the system generalized position, the generalized velocity and the time variable. The simulation results are continuous and convergent, which shows that the extended hierarchical modeling method is effective and feasible in mining robots.