Abstract: Aiming at the manipulator which did spatial motion in a large range, a rigidflexible coupling dynamic modeling approach of the industrial robot manipulator based on deformation screw theory was proposed, and the influence of robotic spatial deformation coupling and torsional deformation on the dynamic characteristics was researched. The rigidflexible coupling dynamic theory model of flexible manipulator in a wide range of spatial motion was established, and the model applied manipulator to the spatial extent. Considering the influence of torsional deformation, the calculation simulation analysis on the model was carried out and the analysis results were compared with those of the traditional zero order model. The results indicate that the establishment of large range motion manipulator dynamics equation and the application of screw theory solve the limitations that traditional mathematical methods are limited to planar motion; the coupling between large range motion and manipulator deformation has an impact on the manipulator rod and terminal; considering deformation coupling, the manipulator dynamics characteristics will change and the manipulator vibration frequency will increase.

Key words: electromechanical engineering, screw theory, flexible manipulator, rigid-flexible coupling, dynamics model

摘要： 针对作大范围空间运动的机械臂，提出了基于变形旋量理论的工业机器人机械臂刚柔耦合动力学建模方法；研究了机械臂空间变形耦合和扭转变形对动力学特性的影响；建立了作大范围空间运动柔性机械臂的刚-柔耦合动力学理论模型，该模型将机械臂应用到空间范围，并考虑扭转变形的影响。对模型做计算仿真分析，将分析结果与传统零次模型进行比较。结果表明：作大范围运动机械臂动力学方程的建立，旋量理论的应用解决了传统数学方法只限于平面运动的局限性；大范围运动与机械臂变形之间的耦合，对于机械臂杆件和终端有一定的影响；计及变形耦合影响的机械臂动力学特性将发生变化，机械臂振动频率会提高。

关键词: 机电工程, 旋量理论, 柔性机械臂, 刚柔耦合, 动力学模型