| 挠性机械臂三维动力建模与单挠性臂数值模拟 |
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| 引用本文： | 薛克宗,赵平.挠性机械臂三维动力建模与单挠性臂数值模拟[J].清华大学学报(自然科学版),1993(5). |
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| 作者姓名： | 薛克宗 赵平 |
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| 作者单位： | 工程力学系
(薛克宗)，工程力学系(赵平) |
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| 摘 要： | 柔性机械臂的研究具有重要的工程实际意义。本文应用虚功原理建立了柔性链式多体系统动力学微分方程。对应由－刚杆－柔杆加上刚性负载所组成的三维机械臂系统，采用 Ｇｅａｒ算法进行了三维数值计算。计算结果比较符合实际。
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| 关 键 词： | 柔性多体系统 虚功原理 数值模拟 Gear算法 |
Dynamical modelling on 3--D of flexible manipulator and numerical simulation of Single--flexible link manipulator |
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| Xue Kezong,Zhao Ping.Dynamical modelling on 3--D of flexible manipulator and numerical simulation of Single--flexible link manipulator[J].Journal of Tsinghua University(Science and Technology),1993(5). |
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| Authors: | Xue Kezong Zhao Ping |
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| Institution: | Xue Kezong,Zhao Ping Department of Engineering Mechanics |
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| Abstract: | There is very important significance in engineering for the research of flexible manipulator. In this paper, the differential equations of a link flexible multibody system have been derived from the principle of virtual work. Then, for a single--flexible link, the equations were solved by means of Gear Algorithm. The analysis and calculation are based on three--dimensions. The results are good in keeping with practice. |
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| Keywords: | flexible mulibody system virtual work principle numerical simulation Gear Algorithm |
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