旋转运动柔性梁实验平台的机械系统设计

旋转运动柔性梁实验平台的机械系统设计

摘 要：柔性机械臂作为柔性多体系统动力学分析与控制理论研究最直接的应用对象，由于其具有简明的物理模型以及易于计算机和实物模型试验实现的特点，已成为น发展新1代机器人和航空航天技术的关键性课题。

本文主要讨论了旋转运动柔性梁实验平台的设计。首先介绍了实验平台的总体结构，对其中的机械系统部分和控制❤系统部ฌ分做了简单介绍和说明。然后重点介绍了机械系统的结构设计，对结构中的各组成部分进行了设计，并绘制了相关0件的工程图。

关键词：柔性多体动力学；旋转柔性梁；实验平台；结构设计

The mechanical system design of experiment platform for rotating flexible beams

Abstract：The flexible arm has been the most direct application for flexible multi-body system dynamics analysis and control theory. Because it had characteristics of simple physical model and easy to computer models and physical tests, theม flexible arm has become a key subject for the development of the next generation robot, aviation and aerospace technology.

This paper discusses the experiment platform design for a rotating flexible beam. The mechanical system and control system of the experiment platform is briefly introduced. The mechanical system of the experiment setup is designed. In the design of the mechanical sys✯tem, the trestle structure is used, and the rotation axis and installation disk are designed into together.

Keywords: Flexible multi-body dynamics; Rotating flexible beam; Experiment platform; Structures design

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