柔性机器人动力学仿真系统研究与开发
摘要
柔性机器人动力学是机械动力学研究领域的前沿课题，其中动力学分析是关键问题，高效的动力学仿真软件工具是重要手段，对理论研究和工程设计都十分重要。现在动力学仿真程序主要是自己编写，这样既耗时，程序的通用性和移植性也较差，不利于科研的发展。充分利用通用软件不失为一种好的解决方案，目前较先进的方法是结合多体动力学和有限元分析软件进行柔性机器人仿真。国际著名的软件ADAMS、ANSYS分别适用于多体动力学仿真和有限元软件分析，但用于柔性机器人动力学仿真还很不成熟。
本文根据软件工程的原理，详细分析了专业需求，进行了功能描述和软件系统设计，将ADAMS和ANSYS有机结合，开发了柔性机器人动力学软件仿真系统。首先，本软件系统实现了流程的自动化，对用户屏蔽了数据接口，专用数据接口文件在ANSYS中ADAMS可以自动传输。其次，本软件系统实现了统一的界面，将所有的功能集中到一个界面。再次，本软件系统实现了模态中性文件自动生成和建模的自动化，用户只需输入和专业相关的参数即可轻松完成仿真。最后，本软件系统简化了系统配置，实现参数配置的自动化。文中通过一个两臂机器人的实例详细介绍了软件的使用。然后，通过两平面三臂机器人协调操作刚性负载的实例说明了本软件系统的正确性和有效性。本软件仿真系统运算稳定、适应范围广，能极大地提高了机器人研究的工作效率。
The dynamics of flexible robot manipulators is an advanced topic in the area of machinery dynamics. The dynamics analysis is the key point. The dynamics simulation software tool is very important in the research and the design of products. It takes a lot of time to develop this kind of software by the individual researcher and the software is always not suit for different purpose. It is a good solution to use universal software to implement the simulation of flexible robot manipulators. But there is no efficient software in the field until now.
A software is proposed using the knowledge of software engineering in this thesis. The famous FEA software ANSYS and Virtual Prototyping system ADAMS is integrated. Based on this integration the dynamics simulation software of flexible robot manipulators is developed. The automatic transformation of the customized data interface file between ADAMS and ANSYS is accomplished. Automatic configuration of the system is completed. The system have uniform interface and can create automatically Modal Neutral File without too much interfere of users. The software is introduced by an example of a flexible 2R planar manipulator. The validity and advantage of the software is demonstrated through an example of two coordinated flexible manipulators manipulating a rigid load. The software is very useful to the dynamics analysis of the flexible robot manipulators.
本文根据软件工程的原理，详细分析了专业需求，进行了功能描述和软件系统设计，将ADAMS和ANSYS有机结合，开发了柔性机器人动力学软件仿真系统。首先，本软件系统实现了流程的自动化，对用户屏蔽了数据接口，专用数据接口文件在ANSYS中ADAMS可以自动传输。其次，本软件系统实现了统一的界面，将所有的功能集中到一个界面。再次，本软件系统实现了模态中性文件自动生成和建模的自动化，用户只需输入和专业相关的参数即可轻松完成仿真。最后，本软件系统简化了系统配置，实现参数配置的自动化。文中通过一个两臂机器人的实例详细介绍了软件的使用。然后，通过两平面三臂机器人协调操作刚性负载的实例说明了本软件系统的正确性和有效性。本软件仿真系统运算稳定、适应范围广，能极大地提高了机器人研究的工作效率。
The dynamics of flexible robot manipulators is an advanced topic in the area of machinery dynamics. The dynamics analysis is the key point. The dynamics simulation software tool is very important in the research and the design of products. It takes a lot of time to develop this kind of software by the individual researcher and the software is always not suit for different purpose. It is a good solution to use universal software to implement the simulation of flexible robot manipulators. But there is no efficient software in the field until now.
A software is proposed using the knowledge of software engineering in this thesis. The famous FEA software ANSYS and Virtual Prototyping system ADAMS is integrated. Based on this integration the dynamics simulation software of flexible robot manipulators is developed. The automatic transformation of the customized data interface file between ADAMS and ANSYS is accomplished. Automatic configuration of the system is completed. The system have uniform interface and can create automatically Modal Neutral File without too much interfere of users. The software is introduced by an example of a flexible 2R planar manipulator. The validity and advantage of the software is demonstrated through an example of two coordinated flexible manipulators manipulating a rigid load. The software is very useful to the dynamics analysis of the flexible robot manipulators.
引文
[1]Mechanical Dynamics, Inc., Using Adams/View V.9,1998
[2]Mechanical Dynamics, Inc., Using Adams/Flex V.9,1998
[3]Mechanical Dynamics, Inc., Using the ADAMS/View Function Builde V.9,1998
[4]Mechanical Dynamics, Inc., Getting Started Using ADAMS/View V.9,1998
[5]美国ANSYS公司北京办事处 ANSYS动力学分析指南 北京 1998
[6]美国ANSYS公司北京办事处 ANSYS动力学分析指南 北京 1998
[7]王文亮 杜作润 结构振动与动态子结构方法 复旦大学出版社 1985
[8]唐锡宽等 机械动力学，北京，高等教育出版社，1984
[9]白师贤 高等机构学 上海科学出版社 1988
[10]岳士岗 冗余度柔性机器人动力学研究 1995
[11]熊有伦等 机器人学 北京机械工业出版社 1993
[12]张启先 空间机构的分析与综合 北京机械工业出版社 1984
[13]张策等 弹性连杆机构的分析与设计 北京 机械工业出版社 1989
[14]蒋新松 机器人学导论 沈阳辽宁科学技术出版社 1994
[15]Erdman,A G, Sandor, G N, Kineto_Elastodynamics A Review of the State of the Art and Trends,Mech Mach Theory,1972,Vol 7,19-33
[16]Lowenm, G G, Jandrasits, W G, Survey of investigarions into the dynamic behaveior of mechanisms containing links weth distributed mass and elasticity, Mech Mach Theory, 1972, Vol 7, 3-17
[17]Erdman, A G, Imam, I and Sandor, G N, Applied Kineto-Elasto-Dynamics, Proceedings of 2nd OSU Applied Mechanism Conference, 1971
[18]Erdman, A G, Sandor, G N, A General Method for Kineto-Elastodynamics Analysis and Synthesis of Mechanisms, ASME Journal of Engineering for Industry, 1972,Vol 94,1193-1205
[19]Winfrey, R C, Elastic Link Mechanism Dynamics, ASME, Journal of Engineering for Industry, 1971, Vol 93,268-272
[20]Erdman A G, Sandor G N, Oakberg R G A General Method for Kineto-Elastodynamic Analysis and Synthesis of Mechamisms Trans ASME,J Eng Ind, 1972,94(B):1193-1205
[21]Winfrey R C Dynamic Analysis of Elastic Link Mechanisms by Reduction of Coordinates Trand ASME, J Eng Ind, 1972, 94(B):557-582
[22]Imam I, Sandor G N, Kramer S N Deflection and Stress Analysis in High Speed Planar Mechanisms with Elastic Link Tran ASME,J Eng Ind, 1973,95(B):541-548
[23]B M Bahgat and K D Willmert Finite Element Vibrational Anakysis of Planar Mechanisms Mech Mach Theory 11, 47-71(1976)
[24]I Imam and G N Sandor High Speed Mechanism Design a General Analytical Approach ASME J Eng Ind97,609-628(1975)
[25]窦建武，余跃庆，两柔性机器人协调操作的动力学模型及其逆动力学分析，机器人，1999
[26]窦建武，余跃庆，两柔性机器人协调操作开环单自由度刚性负载的动力学建模与仿真，机器人，1999，19(7)
[27]窦建武，余跃庆，基于目标运动规划的柔性机器人协调操作闭链刚性负载的动力学模型，机械科学与技术，1999
[28]窦建武，余跃庆，多柔性机器人协调操作多环自由度闭链刚性负载的动力学模型，机械程学报，1999
[29]窦建武，余跃庆，柔性机器人协调操作闭链负载的通用模型，机器人，1999
[30]曹彤等 1995 10机器人弹性动力学研究及机构综合优化机器人 Vol 31，No 5，64-70
[31]何广平等 1997 5柔性冗余度机器人振动抑制的一种方法 机器人 Vol 19，No 3，173-179
[32]边宇枢等 1998 9柔性冗余度机器人力矩优化的研究 机器人 Vol 20，No 5 382-387
[33]张绪平 空间柔性冗余度机器人动力学分析与综合 北京工业大学 博士论文 1999
[34]杨继运 柔性多冗余度机器人动力学综合 北京工业大学 硕士论文 1999
[35]赵京等 1998 7两冗余度机器人协调操作的研究 机器人 Vol 20，No 4 258-265
[36]J. P. Sadler and G N Sandor, ASME J Engng Indnst 1973, Vol 95, 549
[37]C Bagci and S Kalaycioglu, ASME J Mech Des 1979, Vol 101,417
[38]N.Orlandea, T. Berenyi, Dynamic Continuous Path Synthesis of Industrial Robots Using ADAMS Computer Program, ASME, Journal of Mechanical Design, July 1981, vol. 103, P 602—607.
[39]Xi, F.and Fenton, R.G., On flexible link manipulators modeling and analysis using the algebra of rotations: Robotica, 1994, 12:371-381.
[40]白师贤 高等机构学上海科学出版社1988
[41]Yang, Zhijia, Sadler, J.p., Finite element analysis of revolute manipulators with link and joint Compliance by joint-beam elements. Robotics, spatial Mechanisms,and Mechanical systems ASME Design Technical Conference. 1992, De-vol. 45 PP. 619-625.
[42]熊有伦等 机器人学 北京 机械工业出版社1993
[43]唐锡宽等 机械动力学，北京，高等教育出版社，1984
[44]张策等 弹性连杆机构的分析与设计 北京 机械工业出版社 1989
[45]李论 柔性机器人与机构动力学仿真的研究 北京工业大学 硕士论文 1999
[46]Naganathan, G. and Soni, A. H., An analytical and experimental investigation of flexible manipulator performance, IEEE Intl. Conference on Robotics and Automation, 1987, Vol.1, pp.767-773.
[47]Naganathan, G. and Soni, A. H., Nonlinear modeling of kinematic and flexibility effects in manipulators design, ASME Journal of Mechanisms,Transmissions, and Automation Design, September 1988, Vol. 110, pp. 243-254.
[48]Naganathan, G. and Soni, A. H., Dynamic response of a manipulator, 9th Applied Mechanisms Conference Proceeding, Kansas City, Missouri, Vol. 2, Secssion Ⅻ.,A,pp. Ⅲ. 1-6.
[49]Dado, M. and Soni, A. H. A generalized approach for forward and inverse dynamics of elastic manipulators, IEEE Intl. Conference on Decision and Control,1986, Vol. 1, pp. 359-364.
[50]Han, R. P. S., and Zhao, Z., Dynamics of General Flexible Multibodies, Intl. Journal for Numerical Methods in Engineering(to appear), 1989, pp. 1-29.
[51]Yang, Zhijia, Sadler, J.p., Finite element analysis of revolute manipulators with link and joint Compliance by joint-beam elements. Robotics, spatial Mechanisms, and Mechanical systems ASME Design Technical Conference. 1992, De-vol. 45 PP. 619--625.
[52]Yang, Zhijia, Sadler, J.P., Finite element modeling of spatial robot manipulators, ASME Design technical Conference-21sf biennial Mechanisms conference. Chicago, Illinois, 1990, PP. 489-496.
[53]N.Orlandea, T.Berenyi, Dynamic Continuous Path Synthesis of Industrial Robots Using ADAMS Computer Program, Transactions of the ASME, 1981, vol.103, pp602-607
[54]蔡自兴 机器人学 清华大学出版社 2000
[55]Zhijia Yang,J.P.Sadler Large-Displacement Finite Element Analysis of Flexible Linkages, Transactions of the ASME, 1990, vol.112, pp175-182
[56]Bajkowski J, Hac M. Application FEM in modeling rigid and flexible systems with joint clearances[J]. Shock and Vibration Digest, 2000, 32(1): 63
[57]Craig R R, Bampton M C C. Coupling of substructures fordynamics analyses[J]. AIAA Journal, 1968, 6(7): 1313-1319
[58]张海藩 软件工程导论 清华大学出版社 1998
[59]Ivar Jacobson等 统一软件开发过程 机械工业出版社 北京 2002
[60]潘爱民 COM 原理与应用 清华大学出版社 北京 2000
[61]G. G. Lowen and C. Chassapis, The Elastic Behavior of Linkages: An Update, Mech. Mach. Theory, Vol.21, No. 1, 1986, pp.33-42.
[62]张策等 弹性连杆机构的分析与综合 机械工业出版社 1997．6 第二版
[63]A. Midha, A.G. Erdman and D.A. Frohrib, Finite Element Approach to Mathematical Modeling of High-Speed Elastic Linkages, the 5th OSU Applied Mechanics Conference. Dec. 1977,pp.8-1～8-16.
[64]David A.Turcic and A. Midha, Dynamic Analysis of Elastic Mechanism Systems, Part I: Generalized Equations of Motion, ASME 83-WA/DSC-43,pp.1-11.
[65]Sorin Musat and Bogdan I. Epureanu, Finite-Element Modeling in Flexible-Mechanism Dynamics, the 9th IFToMM Milano, Vol.2, pp.985-988.
[66]D.Surdilovic and M. Vukobratovic, On Method for Efficient Dynamic Modeling of Flexible Manipulators, Mech. Mach. Theory, Vol.31, No.3, 1996, pp.297-315.
[67]王永岩 动态子结构方法理论及应用 科学出版社 1999．
[68]Gisli.Ottarsson,Modal Flexibility Method in ADAMS/FLEX, MDI.1998
[69]Xiaochun Gao, Zhiying King and Qixian Zhang, A Hybrid Beam Element for Mathematical Modeling of High-Speed Flexible Linkages, Mech. Mach. Theory, Vol.24, No.1, 1989, pp.29-36.
[2]Mechanical Dynamics, Inc., Using Adams/Flex V.9,1998
[3]Mechanical Dynamics, Inc., Using the ADAMS/View Function Builde V.9,1998
[4]Mechanical Dynamics, Inc., Getting Started Using ADAMS/View V.9,1998
[5]美国ANSYS公司北京办事处 ANSYS动力学分析指南 北京 1998
[6]美国ANSYS公司北京办事处 ANSYS动力学分析指南 北京 1998
[7]王文亮 杜作润 结构振动与动态子结构方法 复旦大学出版社 1985
[8]唐锡宽等 机械动力学，北京，高等教育出版社，1984
[9]白师贤 高等机构学 上海科学出版社 1988
[10]岳士岗 冗余度柔性机器人动力学研究 1995
[11]熊有伦等 机器人学 北京机械工业出版社 1993
[12]张启先 空间机构的分析与综合 北京机械工业出版社 1984
[13]张策等 弹性连杆机构的分析与设计 北京 机械工业出版社 1989
[14]蒋新松 机器人学导论 沈阳辽宁科学技术出版社 1994
[15]Erdman,A G, Sandor, G N, Kineto_Elastodynamics A Review of the State of the Art and Trends,Mech Mach Theory,1972,Vol 7,19-33
[16]Lowenm, G G, Jandrasits, W G, Survey of investigarions into the dynamic behaveior of mechanisms containing links weth distributed mass and elasticity, Mech Mach Theory, 1972, Vol 7, 3-17
[17]Erdman, A G, Imam, I and Sandor, G N, Applied Kineto-Elasto-Dynamics, Proceedings of 2nd OSU Applied Mechanism Conference, 1971
[18]Erdman, A G, Sandor, G N, A General Method for Kineto-Elastodynamics Analysis and Synthesis of Mechanisms, ASME Journal of Engineering for Industry, 1972,Vol 94,1193-1205
[19]Winfrey, R C, Elastic Link Mechanism Dynamics, ASME, Journal of Engineering for Industry, 1971, Vol 93,268-272
[20]Erdman A G, Sandor G N, Oakberg R G A General Method for Kineto-Elastodynamic Analysis and Synthesis of Mechamisms Trans ASME,J Eng Ind, 1972,94(B):1193-1205
[21]Winfrey R C Dynamic Analysis of Elastic Link Mechanisms by Reduction of Coordinates Trand ASME, J Eng Ind, 1972, 94(B):557-582
[22]Imam I, Sandor G N, Kramer S N Deflection and Stress Analysis in High Speed Planar Mechanisms with Elastic Link Tran ASME,J Eng Ind, 1973,95(B):541-548
[23]B M Bahgat and K D Willmert Finite Element Vibrational Anakysis of Planar Mechanisms Mech Mach Theory 11, 47-71(1976)
[24]I Imam and G N Sandor High Speed Mechanism Design a General Analytical Approach ASME J Eng Ind97,609-628(1975)
[25]窦建武，余跃庆，两柔性机器人协调操作的动力学模型及其逆动力学分析，机器人，1999
[26]窦建武，余跃庆，两柔性机器人协调操作开环单自由度刚性负载的动力学建模与仿真，机器人，1999，19(7)
[27]窦建武，余跃庆，基于目标运动规划的柔性机器人协调操作闭链刚性负载的动力学模型，机械科学与技术，1999
[28]窦建武，余跃庆，多柔性机器人协调操作多环自由度闭链刚性负载的动力学模型，机械程学报，1999
[29]窦建武，余跃庆，柔性机器人协调操作闭链负载的通用模型，机器人，1999
[30]曹彤等 1995 10机器人弹性动力学研究及机构综合优化机器人 Vol 31，No 5，64-70
[31]何广平等 1997 5柔性冗余度机器人振动抑制的一种方法 机器人 Vol 19，No 3，173-179
[32]边宇枢等 1998 9柔性冗余度机器人力矩优化的研究 机器人 Vol 20，No 5 382-387
[33]张绪平 空间柔性冗余度机器人动力学分析与综合 北京工业大学 博士论文 1999
[34]杨继运 柔性多冗余度机器人动力学综合 北京工业大学 硕士论文 1999
[35]赵京等 1998 7两冗余度机器人协调操作的研究 机器人 Vol 20，No 4 258-265
[36]J. P. Sadler and G N Sandor, ASME J Engng Indnst 1973, Vol 95, 549
[37]C Bagci and S Kalaycioglu, ASME J Mech Des 1979, Vol 101,417
[38]N.Orlandea, T. Berenyi, Dynamic Continuous Path Synthesis of Industrial Robots Using ADAMS Computer Program, ASME, Journal of Mechanical Design, July 1981, vol. 103, P 602—607.
[39]Xi, F.and Fenton, R.G., On flexible link manipulators modeling and analysis using the algebra of rotations: Robotica, 1994, 12:371-381.
[40]白师贤 高等机构学上海科学出版社1988
[41]Yang, Zhijia, Sadler, J.p., Finite element analysis of revolute manipulators with link and joint Compliance by joint-beam elements. Robotics, spatial Mechanisms,and Mechanical systems ASME Design Technical Conference. 1992, De-vol. 45 PP. 619-625.
[42]熊有伦等 机器人学 北京 机械工业出版社1993
[43]唐锡宽等 机械动力学，北京，高等教育出版社，1984
[44]张策等 弹性连杆机构的分析与设计 北京 机械工业出版社 1989
[45]李论 柔性机器人与机构动力学仿真的研究 北京工业大学 硕士论文 1999
[46]Naganathan, G. and Soni, A. H., An analytical and experimental investigation of flexible manipulator performance, IEEE Intl. Conference on Robotics and Automation, 1987, Vol.1, pp.767-773.
[47]Naganathan, G. and Soni, A. H., Nonlinear modeling of kinematic and flexibility effects in manipulators design, ASME Journal of Mechanisms,Transmissions, and Automation Design, September 1988, Vol. 110, pp. 243-254.
[48]Naganathan, G. and Soni, A. H., Dynamic response of a manipulator, 9th Applied Mechanisms Conference Proceeding, Kansas City, Missouri, Vol. 2, Secssion Ⅻ.,A,pp. Ⅲ. 1-6.
[49]Dado, M. and Soni, A. H. A generalized approach for forward and inverse dynamics of elastic manipulators, IEEE Intl. Conference on Decision and Control,1986, Vol. 1, pp. 359-364.
[50]Han, R. P. S., and Zhao, Z., Dynamics of General Flexible Multibodies, Intl. Journal for Numerical Methods in Engineering(to appear), 1989, pp. 1-29.
[51]Yang, Zhijia, Sadler, J.p., Finite element analysis of revolute manipulators with link and joint Compliance by joint-beam elements. Robotics, spatial Mechanisms, and Mechanical systems ASME Design Technical Conference. 1992, De-vol. 45 PP. 619--625.
[52]Yang, Zhijia, Sadler, J.P., Finite element modeling of spatial robot manipulators, ASME Design technical Conference-21sf biennial Mechanisms conference. Chicago, Illinois, 1990, PP. 489-496.
[53]N.Orlandea, T.Berenyi, Dynamic Continuous Path Synthesis of Industrial Robots Using ADAMS Computer Program, Transactions of the ASME, 1981, vol.103, pp602-607
[54]蔡自兴 机器人学 清华大学出版社 2000
[55]Zhijia Yang,J.P.Sadler Large-Displacement Finite Element Analysis of Flexible Linkages, Transactions of the ASME, 1990, vol.112, pp175-182
[56]Bajkowski J, Hac M. Application FEM in modeling rigid and flexible systems with joint clearances[J]. Shock and Vibration Digest, 2000, 32(1): 63
[57]Craig R R, Bampton M C C. Coupling of substructures fordynamics analyses[J]. AIAA Journal, 1968, 6(7): 1313-1319
[58]张海藩 软件工程导论 清华大学出版社 1998
[59]Ivar Jacobson等 统一软件开发过程 机械工业出版社 北京 2002
[60]潘爱民 COM 原理与应用 清华大学出版社 北京 2000
[61]G. G. Lowen and C. Chassapis, The Elastic Behavior of Linkages: An Update, Mech. Mach. Theory, Vol.21, No. 1, 1986, pp.33-42.
[62]张策等 弹性连杆机构的分析与综合 机械工业出版社 1997．6 第二版
[63]A. Midha, A.G. Erdman and D.A. Frohrib, Finite Element Approach to Mathematical Modeling of High-Speed Elastic Linkages, the 5th OSU Applied Mechanics Conference. Dec. 1977,pp.8-1～8-16.
[64]David A.Turcic and A. Midha, Dynamic Analysis of Elastic Mechanism Systems, Part I: Generalized Equations of Motion, ASME 83-WA/DSC-43,pp.1-11.
[65]Sorin Musat and Bogdan I. Epureanu, Finite-Element Modeling in Flexible-Mechanism Dynamics, the 9th IFToMM Milano, Vol.2, pp.985-988.
[66]D.Surdilovic and M. Vukobratovic, On Method for Efficient Dynamic Modeling of Flexible Manipulators, Mech. Mach. Theory, Vol.31, No.3, 1996, pp.297-315.
[67]王永岩 动态子结构方法理论及应用 科学出版社 1999．
[68]Gisli.Ottarsson,Modal Flexibility Method in ADAMS/FLEX, MDI.1998
[69]Xiaochun Gao, Zhiying King and Qixian Zhang, A Hybrid Beam Element for Mathematical Modeling of High-Speed Flexible Linkages, Mech. Mach. Theory, Vol.24, No.1, 1989, pp.29-36.
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