| RGRRG机械手的动力学方程 |
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| 引用本文： | 李明义.RGRRG机械手的动力学方程[J].贵州工业大学学报(自然科学版),1988(3). |
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| 作者姓名： | 李明义 |
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| 作者单位： | 贵州工学院函授部 |
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| 摘 要： | 本文用图论的观点和多刚体系统动力学中增广体概念,对 RGRRG 机械手的树形结构系统有向图进行了研究,导出该机械手便于进行数值计算和程序设计以广义坐标表出的动力学方程。
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| 关 键 词： | 机械手 多刚体系统 关联矩阵 通路矩阵 树形结构 增广体 动力学方程 |
Dynamical Equations for RGRRG Manipulator Hand |
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| Li Mingyi.Dynamical Equations for RGRRG Manipulator Hand[J].Journal of Guizhou University of Technology(Natural Science Edition),1988(3). |
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| Authors: | Li Mingyi |
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| Institution: | Correspondence Department |
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| Abstract: | This paper uses the viewpoint of graph theory and the concept of augmented bodies in dynamics of systems of rigid bodies to study the tree-shaped structure system of RGRRG manipulator hand.And the dynamical equations are derived,expressed in terms of generalized coordinates,so that they can be used for computing and programming of this manipulator hand. |
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| Keywords: | manipulator hand systems of rigid bodies incidence matrix path matrix tree-shaped structure augmented body dynamical equation |
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