中文摘要：

对作大范围运动柔性机械臂系统，进行斜碰撞动力学分析．基于柔性多体系统刚柔耦合动力学理论，计人耦合变形项，全面考虑大范围刚体运动与弹性小变形运动的耦合，建立系统连续动力学方程．引入斜碰撞力学模型，将法向和切向碰撞力以广义力的形式加入动力学方程中，对系统进行斜碰撞动力学建模分析．法向碰撞模型选取基于连续接触力法的非线性弹簧阻尼模型，切向碰撞模型选取一种修正Co~omb摩擦模型，对切向摩擦力进行统一描述．给出接触、分离判据，实现不同状态的动力学模型转换与求解．对斜碰撞全局动力学进行了仿真验证，分析了柔性机械臂全局过程的动力学特性变化以及碰撞对大范围运动和小变形运动的作用，并对比了不同碰撞方向对大范围运动、变形、机械能、碰撞力等动力学参数的影响．

英文摘要：

The oblique impact dynamic analysis for a flexible manipulator system with large overall motion is studied in this paper. Based on the rigid-flexible coupling dynamic theory of flexible multibody system, the cou- pling deformation item is considered to reflect the coupling effect of the large overall rigid-body motion and the small elastic deformation motion. The rigid-flexible coupling continuous dynamic equations of the system are then derived through the use of the Lagrange dynamic method. The oblique impact dynamic model for the system is de- A nonlinear spring damper model based on the continuous contact force method is set as the normal impact mod- el, while a modified Coulomb friction model, which describes the friction force of the whole process with a unified equation, is set as the tangential impact model. The contact separation criterion is also established to identify the dynamic status and realize the transformation between the continuous dynamic model and the oblique impact dy- namic model. Moreover, the impact dynamic simulation examples are given to verify the oblique impact dynamic modeling method, and the dynamic behaviors in the global simulation process are discussed. The results show that the impact makes a great effect on the large overall motion and the small deformation motion both in the impact process and the un-impact process. The dynamic parameters, such as the displacement, the deformation, the me- chanical energy and the impact force are also compared at different impact angels.