基于能量判据的柔性机械臂模型降阶

应用有限元法进行柔性机械臂的建模和分析非常有效，然而随着对柔性机械臂分段数的增加，系统动力学模型阶数急剧增大，需要进行模型简化。建立了基于能量范数的能量判据，将能量判据作为柔性机械臂系统模态截断的一个标准，以能量响应信息的收敛程度或者模态能量贡献作为系统模态截断的判断标准。通过与基于均衡实现的模态截断的比较，显示基于能量判据的模态截断法更适合于考虑刚柔耦合的柔性机械臂系统。对单连杆柔性机械臂有限元模型进行降阶，仿真结果表明提出方法的有效性。

Model Reduction of Flexible Manipulator Based on Energy Criterion

It is very effective to model and analyze the flexible manipulator by using finite element method, But the order of the dynamic model will increase significantly when segments of the flexible manipulator increase, which needs to simplify the model. The energy criterion on the basis of the energy norm was proposed. The energy criterion is regarded as an evaluation standard of system modal truncation which takes the convergent degree of energy response information or the modal energy contribution as the evaluation standard of system modal truncation. Comparison with the modal truncation based on equilibrium realization shows that the modal truncation method based on the energy criterion is much more fit for the flexible manipulator system with the consideration of the rigid-flexible coupling factors. The method is used to reduce the order of the finite element model of single link flexible manipulator and the simulation results show the validity of the method.