Title    Impact dynamics of a two-link Manipulators with friction
Abstract
Impact is essentially a non-continuous, non-smooth, strong nonlinear dynamics problems of multiple scales. This paper mainly study about the process of impact dynamics of two-link manipulators, analyze the two manipulators impact with the ground, and then analyze the effects of friction in the impact dynamics. According to these, we strive to come up with a innovative method to the problem of friction-impact dynamics. The contact-impact model is established according to the Hertzian contact theory and nonlinear damping theory. The system's dynamic equations which include impact process are derived via the Lagrangian method. The velocity in the resulting equations is continuous, so the equations could be solved directly. In the programming, we use the ADAMS prediction-correction method to solve equations. This comparison with the commercial ADAMS software, we could validate the theoretical and numerical algorithm presented in this paper.

Keywords  contact-impact, friction, impact dynamics, numerical simulation

1  引言 1
1.1  概述 1
1.2  多体系统碰撞动力学简介 2
1.3  数值计算与动力学仿真 5
1.4  研究对象界定 6
1.5  本课题研究的问题 6
2  机器人碰撞动力学建模 7
2.1  弹性接触分析 7
2.2  机器人碰撞动力学方程推导 12
3  机器人碰撞动力学数值求解 14
3.1  数值计算方法及方程处理 14
3.2  C++程序流程 16
3.3  求解结果 17
4  机器人碰撞动力学仿真 23
4.1  基本模型23
4.2  仿真结果 25
5  结果比较 29
5.1  两杆未碰撞时的情况29
5.2  两杆碰撞时的情况31

1  引言

1．1  概述

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