Abstract: Collision on multi-freedom planar manipulators is studied. According to the geometrical feature of the manipulators, the relatively simple method to test when and where the contact and impact occur is given, which can avoid the complicated iterative search process. The dynamics equations during collision and free flight phase are derived and the Newton coefficient of restitution is introduced to solve the problem of collision. The general calculating frame describing the whole motion including smooth collision is established. Numerical simulation implies that the proposed scheme is valid.

Key words: non-fixed collision, collision identification, manipulator, kinematics, dynamics

摘要： 研究多自由度平面机械臂系统的非定点碰撞问题。据机械臂系统的几何特点, 得到相对简单的检验何时、何处发生接触碰撞的方法, 避免一般多体系统确定接触碰撞点的繁琐的迭代搜索过程。运用拉格朗日方法推导非碰撞及碰撞阶段的动力学方程, 并引进牛顿恢复系数, 建立描述含有光滑碰撞过程的机械臂系统运动过程的一般性框架。最后对算例进行数值模拟证实该方法的有效性。

关键词: 非定点碰撞, 碰撞识别, 机械臂, 运动学, 动力学