Abstract

The article presents a spatial linkage composed of rigid and flexible links subjected to work dependent programmed constraints. The key tool used for the spatial linkage dynamics derivation is an automated computational procedure for constrained dynamics generation. It serves systems subjected to holonomic and first order nonholonomic constraints and proved its effectiveness to open chain models. The procedure results in final motion equations that are in the reduced state form, i.e., constraint reaction force are eliminated during derivation. This is the essential advantage of the procedure application since it provides the smallest set of dynamic equations, which may serve motion analysis and control. The article presents extension of the procedure on linkages composed of flexible links with closed-loop kinematics, for which a spanning tree can have a serial or tree structure. Also, a new optimization procedure is proposed for constraints that are imposed upon the linkage motion. The optimization procedure aims selection of the constraint ranges due to the additional system work regimes, e.g., available power sources or energy consumption. The theoretical development of automated generation of constrained dynamics as well as the constraint optimization procedure is illustrated by the linkage model example.

摘要

这篇文章提出了一个由刚性和柔性链接组成的空间链接，这些链接受到工作相关的程序约束。用于空间链接动力学推导的关键工具是用于约束动力学生成的自动计算程序。它服务于受完整和一阶非完整约束的系统，并证明了其对开链模型的有效性。该过程导致最终运动方程为简化状态形式，即在推导过程中消除了约束反作用力。这是程序应用程序的基本优势，因为它提供了最小的一组动态方程，可以用于运动分析和控制。本文介绍了由具有闭环运动学的柔性连杆组成的连杆程序的扩展，生成树可以具有串行或树结构。此外，还针对施加在连杆运动上的约束提出了新的优化程序。由于额外的系统工作机制，例如可用的电源或能量消耗，优化程序旨在选择约束范围。链接模型示例说明了自动生成约束动力学以及约束优化程序的理论发展。