| Gough-Stewart并联机器人刚体动力学模型 |
| |
| 引用本文： | 吕帮俊,彭利坤,邢继峰,朱石坚. Gough-Stewart并联机器人刚体动力学模型[J]. 华中科技大学学报(自然科学版), 2011, 39(10): 14-18 |
| |
| 作者姓名： | 吕帮俊 彭利坤 邢继峰 朱石坚 |
| |
| 作者单位： | 海军工程大学船舶与动力工程学院,湖北武汉,430033 |
| |
| 摘 要： | 综合采用拉格朗日方程和牛顿-欧拉公式推导了Gough-Stewart并联机器人机构逆动力学模型的封闭解形式.通过选择合适的分支广义坐标,简化了拉格朗日函数对广义坐标的偏导求解,得到了求导矩阵的解析表达式.分析了分支角速度、角加速度轴向分量对机构动力学的影响,仿真结果表明：当机构运动加速度及分支轴向惯量较小时,可以忽略该...
|
| 关 键 词： | 动力学 拉格朗日方程 牛顿-欧拉公式 Gough-Stewart并联机器人 广义坐标 |
Rigid dynamic model of Gough-Stewart parellel robot |
| |
| Lü Bangjun Peng Likun Xing Jifeng Zhu Shijian. Rigid dynamic model of Gough-Stewart parellel robot[J]. JOURNAL OF HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY.NATURE SCIENCE, 2011, 39(10): 14-18 |
| |
| Authors: | Lü Bangjun Peng Likun Xing Jifeng Zhu Shijian |
| |
| Affiliation: | Lü Bangjun Peng Likun Xing Jifeng Zhu Shijian(College of Naval Architecture and Power,Naval University of Engineering,Wuhan 430033,China) |
| |
| Abstract: | Closed-form solutions to the inverse dynamics of Gough-Stewart parellel robots were derived based on Lagrange equation and Newton-Euler formulation.Derivatives of Lagrange functions were simplified through appropriate selection of branch generalized coordinates and analytical form of derivative matrices could be obtained.Self-rotation velocity and acceleration of branches were taken into consideration.Simulation results show that the self-rotation effects can be omitted when robot moves in a low acceleratio... |
| |
| Keywords: | dynamics Lagrange equation Newton-Euler formulation Gough-Stewart parallel robot generalized coordinates |
| 本文献已被 CNKI 万方数据 等数据库收录！ |
