In this study, a modeling method for investigating the dynamic characteristics of a hydraulically driven shell manipulator with revolute clearance joints is presented. This model accounts for the effect of the clearance, the flexibility of the rotating beam, and the coupled dynamic characteristics of the hydraulic cylinder. A modified contact force model was developed to simulate the physical properties of realistic revolute joints with small clearances, heavy loads, and variable contact stiffnesses and damping coefficients with variations of the indentations. Considering the strong coupling relationship between the hydraulic cylinder and the flexible beam, a system equation of motion combining the state variables of the hydraulic cylinder and mechanical system was established. The complex nonlinear friction force of the hydraulic cylinder motion was constructed using a modified LuGre model, and the parameters of the friction model were identified using intelligent identification algorithms. Moreover, a test system for the shell manipulator was established to achieve experimental validation. Finally, the effects of the clearance size and the stiffness of the cylinder support on the dynamic response were investigated.

在这项研究中，提出了一种用于研究具有旋转间隙接头的液压驱动壳体机械手的动态特性的建模方法。该模型考虑了间隙的影响、旋转梁的灵活性和液压缸的耦合动态特性。开发了一个改进的接触力模型来模拟具有小间隙、重载荷和可变接触刚度和阻尼系数随压痕变化的实际旋转接头的物理特性。考虑到液压缸与柔性梁之间的强耦合关系，建立了液压缸与机械系统状态变量相结合的系统运动方程。采用改进的LuGre模型构建液压缸运动的复杂非线性摩擦力，并采用智能辨识算法对摩擦模型参数进行辨识。此外，还建立了壳机械手的测试系统，实现了实验验证。最后，研究了间隙尺寸和气缸支撑刚度对动态响应的影响。