柔性臂約束/非約束模態(tài)降維模型精度分析

The precision analysis of constrained and unconstraint mode dimension reduction model for flexible manipulator

摘要: 針對柔性機(jī)械臂約束、非約束模態(tài)降維的動力學(xué)絕對誤差問題，可采用有限元法描述柔性變形，并應(yīng)用拉格朗日法建立其動力學(xué)模型，分別利用約束和非約束模態(tài)進(jìn)行降維，來比對兩種降維方法的絕對精度。仿真結(jié)果表明：約束、非約束模態(tài)降維模型都具有較高的動力學(xué)精度，取相同階數(shù)的非約束模態(tài)動力學(xué)精度更高，而約束模態(tài)的誤差具有隨時間累積的特點(diǎn)。

Abstract: To study the precision of the constrained and unconstraint mode dimension reduction model for flexible manipulator, the finite element method is applied to describe the flexible deformation, the Lagrange method is used to establish the dynamical model; and then the dimension is reduced by the constrained and unconstrained mode method; in the end, the absolute errors of the two dimensional reduction method are analyzed. The simulation results show that both models have a good performance in the precision of dynamics. The unconstraint mode dynamic model has a higher precision when considering the same order, the absolute error of the constraint mode model has the nature of accumulation over time.