| 工业机器人动力分析 |
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| 引用本文： | 严军,李杞仪.工业机器人动力分析[J].华南理工大学学报(自然科学版),1987(1). |
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| 作者姓名： | 严军 李杞仪 |
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| 作者单位： | 华南工学院机械一系
(严军)，华南工学院机械一系(李杞仪) |
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| 摘 要： | 木文用矢量运算和拉格朗目方程推导出一套工业机器人运动学和动力学计算公式.这些公式可用来计算机器人上各连杆的运动速度、加速度、惯性力,以及各关节上驱动器的功率和机器人的最大负荷能力.文中的几何影响系数仅与各连杆的位置和方向有关,因而使公式变得简单而明确.这些公式除用于机器人设计计算外,也可以用来研究机器人的动力特性,以及对机器人的运动进行实时控制.
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| 关 键 词： | 运动学 动力学 速度 加速度 惯性张量 工业机器人 几何影响系数 |
THE DYNAMIC ANALYSIS OF MANIPULATORS |
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| Yan Jun and Li Qiyi Ist Dep. of Mech. Eng. South China Inst. of Tech..THE DYNAMIC ANALYSIS OF MANIPULATORS[J].Journal of South China University of Technology(Natural Science Edition),1987(1). |
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| Authors: | Yan Jun and Li Qiyi Ist Dep of Mech Eng South China Inst of Tech |
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| Institution: | Yan Jun and Li Qiyi Ist Dep. of Mech. Eng. South China Inst. of Tech. |
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| Abstract: | With vector operation and Lagrange's Equation a serial formulation which describes kinematics and kinetics of manipulators is presented in this paper. These formulations can be used to calculate velocity, acceleration, inertial force of each link, and the power of actuator of each joint, as well as the maximum capacity of the manipulator.
In this paper the geometric influence coefficients relate only with the sizes and directions of the links of the manipulator. So they have made these formulations simple and explicit.
These formulations can also be used to research the dynamic capability of the manipulator and control the motion of the manipulator in real time beside designing a manipulator. |
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| Keywords: | kinematics kinetics velocity acceleration inertial tensor manipulator geometric influence coefficient |
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