| 闭链机构机器人的运动分析和动力分析 |
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| 引用本文： | 李德高,马香峰.闭链机构机器人的运动分析和动力分析[J].北京科技大学学报,1987(1). |
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| 作者姓名： | 李德高 马香峰 |
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| 作者单位： | 北京钢铁学院机器人研究所
(李德高)，北京钢铁学院机器人研究所(马香峰) |
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| 摘 要： | 本文作了单闭链结构机器人的运动分析和动力分析。作运动分析时,将单闭链分为左右两路,建立某一中间杆的位姿。速度和加速度恒等式,求出了从动关节的位移、速度和加速度关系式。在此基础上,导出了各杆速度和加速度计算公式。然后,应用Kane方程导出了单闭链结构机器人的动力学逆问题计算模型。
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| 关 键 词： | 机器人 闭链机构 Kane方程 动力学逆问题 |
Dynamic and Kinematic Analysis for Robots with Closed Kinematic Chains |
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| Li Degao Ma Xiangfeng.Dynamic and Kinematic Analysis for Robots with Closed Kinematic Chains[J].Journal of University of Science and Technology Beijing,1987(1). |
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| Authors: | Li Degao Ma Xiangfeng |
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| Institution: | Li Degao Ma Xiangfeng |
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| Abstract: | This paper provides kinematic and dynamic analysis for robots with the structure of single-closed kinematic chain.The single-closed kinematic chain is divided into left and right paths for establishing the motion equations of an intermediate link,and then the displacement,velocity and acceleration of the passive joints are derived. On the ground of these equations, the formulas of calculating velocity and acceleration of each link are obtained. Finally, the inverse dynamics of the robots is modelled, using Kane's dynamical equa tions. |
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| Keywords: | robot closed-chain mechanism Kane's equation inverse dynamics |
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