预压叠层柔性机械臂弯曲试验及有限元数值仿真

为抑制柔性机械臂的振颤，该文提出利用组合构件的滞迟特性来改善机械臂的动力学品质以达到减振的作用；介绍了预压叠层柔性机械臂力-变形本构关系的试验研究及有限元数值仿真。研究了其滞迟特性随预压力、载荷及工作点的变化；分析了叠层结合面的作用机理；表明组合柔性机械臂抑振效果好，结构简单。在用ANSYS进行有限元数值仿真时考虑了几何非线性与叠层之间接触状态非线性的影响，数值仿真结果与试验接近，该方法为组合柔性机械臂的静力学、动力学的研究及设计计算提供了有效手段。

Experimental Research and FEA Simulation on Bending of Pre-pressed Multi-layer Assembled Flexible Link

In order to restrain the vibration of a flexible manipulator,an assembled flexible link is used in the flexible manipulator to improve the dynamic performance of the flexible manipulator.Through the experimental research and FEA(Finite Element Analysis) simulation on bending of pre-pressed multi-layer assembled flexible link,it is indicated that this kind of flexible link has favorable hysteresis characteristic,which varies with the pre-pressing force,and can effectively restrain the vibration of the flexible manipulator.Moreover,FEA simulation is applied to this kind of flexible link with ANSYS under considering geometric nonlinearity and contact-status nonlinearity.Its load-deflection graph with the hysteresis characteristic is consistent with the experimental result.This method provides an effective way for the research on the statics and dynamics of the assembled flexible link.