上海交通大学 a. 上海市复杂薄板结构数字化制造重点实验室； b. 机械系统与振动国家重点实验室， 上海 200240
出版日期:2019-06-28发布日期:2019-07-23通讯作者:余海东，男，副教授，电话(Tel.)：021-34206542；E-mail：hdyu@sjtu.edu.cn.作者简介:易灿明(1993-)，男，湖南省醴陵市人，硕士生，研究方向为柔性体动力学，E-mail：yicanming@sjtu.edu.cn.基金资助:国家自然科学基金(51775345)，国家重点基础研究发展基金(2014CB046600)资助项目Dynamic Behavior of Coupled Flexible Plate Structure with Piezoelectric Actuator via Absolute Nodal Coordinate Formulation
YI Canming a，YU Haidong a，WANG Hao a,ba. Shanghai Key Laboratory of Digital Manufacture for Thin-walled Structures; b. State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240, China
Online:2019-06-28Published:2019-07-23摘要/Abstract
摘要： 软体机器人的驱动一般由较硬的驱动元件与柔性介质复合而成，两相材料耦合大变形的精确描述是驱动部件结构设计与运动控制的关键.针对复合柔性板结构大变形的特点，基于绝对节点坐标方法，通过变形协调条件将梁和板单元进行耦合，同时引入压电驱动材料本构方程，建立带压电材料驱动器的复合柔性板结构动力学模型，并对其动力学特性进行分析，以研究不同参数对该动力学模型的影响.结果表明：柔性悬臂板结构在压电驱动作用下产生弯曲变形，变形量及板末端位移随驱动电压的增大呈近似线性增大规律，且板结构弹性模量越小则该变形量增大的程度越大；随着弹性模量减小，板结构产生的周期性振动幅度增大，周期变长.
关键词: 复合柔性板结构； 绝对节点坐标法； 变形协调条件； 压电材料驱动； 软体机器人
Abstract: Coupled flexible structures are widely applied on soft robots as actuators, which are combined with hard electric actuating material and flexible medium. The accurate description for the rigid-flexible coupling and large deformation is of great importance for the structure design and accurate control of the actuators and soft robots. In this paper, a flexible beam-plate coupled structure is established based on the deformation compatibility condition, the deformation of the structure is described with absolute nodal coordinate formulation, and the dynamic equations are developed based on Hamilton’s principle. To investigate the influence of actuation, piezoelectric material constitutive equations are imposed to the beam element as a piezoelectric actuator of the structure. The results indicate that the deformations of the coupled flexible structure under piezoelectric actuation increase linearly with the increase of input voltage. The structure conducts periodical vibrations under actuation, the amplitude and the period of the vibration increase nonlinearly with the decrease of Young’s modulus.
Key words: coupled flexible structure; absolute nodal coordinate formulation (ANCF); deformation compatibility condition; piezoelectric actuator; soft robots
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