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題名 | 平面單撓性臂系統之鍵結圖表示法=Bond Graph Representation of a Planar One-Link Flexible Manipulator System |
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作者 | 嚴家銘; | 書刊名 | 技術學刊 |
卷期 | 12:1 1997.03[民86.03] |
頁次 | 頁69-77 |
分類號 | 446.011 |
關鍵詞 | 鍵結圖(鍵圖); 多撓性體力學; 有限元素法; 電腦輔助模擬; Bond graph method; Flexible multibody dynamics; Finite element method; Computer aided modeling; |
語文 | 中文(Chinese) |
中文摘要 | 當一個多元件機械系統由輕質材料所組成或在高速運轉下,其系統結構之撓曲現 象在動力分析上將扮演重要角色。這些系統包括高速產業工具機及機械手臂。這些系統通常 包含撓性結構體及電磁致動器。為了能有效模擬此類多元件機械系統的動態行為,本專題研 究結合有限元素法及鍵結圖表示法,將有限元素法在結構動態分析上之可靠性及鍵結圖在圖 形表、模擬整合之優越性應用於多撓性體機械系統。此種結合使鍵結圖法成為對多撓性體系 統研究上一強而有力之電腦輔助模擬工具。研究中,並以平面單撓性臂系統之前向與逆向動 力模擬為例,將鍵結圖模擬與現有研究結果做比較,以說明鍵結圖法於平面撓性臂機械系統 上之應用。 |
英文摘要 | The compliant effects of a multibody system are of major concern as the y play a significant role in the dynamic characteristics of mechanical systems that operate at high sppeds or systems that are made of light-weight materials. These multibody systems, such as machine tools and robotic manipulators, usually consist of deformable elements and electro-magnetic actuators. In order to model these systems effectively, the dynamics of a flexible multibody system are studied by using the finite element method and the bond graph technique. The finite element methods can provide reliable numerical solutions for complex structural mechanics and the bond graph technique has its powerful graphical integration scheme. The combination of these two methods makes the bond graph formulation a powerful computer-aided modeling tool for flexible multibody dynamics. To demonstrate the application of this research, the bond graph representations of the forward and inverse dynamics of a planar one-link manipulator system are developed for verification with existing data. |
本系統之摘要資訊系依該期刊論文摘要之資訊為主。