| 机器人操作机弹性动力学分析新方法 |
| |
| 引用本文： | 刘鸿飞,张策.机器人操作机弹性动力学分析新方法[J].北京科技大学学报,1994,16(3):274-279. |
| |
| 作者姓名： | 刘鸿飞 张策 |
| |
| 作者单位： | 北京科技大学机械系，唐山工程技术学院 |
| |
| 摘 要： | 本文给出将机器人操作机划分成传动系统，刚性化杆件和弹性杆件３种不同类型的子结构，按相邻子结构间位移协调矩阵组装出操作机系统的弹性动力学方程进行ＫＥＤ仿真分析的新方法。实例分析表明：该方法计算量小、考虑因素多。为操作机设计提供了一种有效的仿真分析手段。
|
| 关 键 词： | 机器人 弹性动力学 仿真 操作机 |
A New Method of KED Analysis of Robotic Manipulator |
| |
| Liu Hongfei,ma xiangfeng,zang ce.A New Method of KED Analysis of Robotic Manipulator[J].Journal of University of Science and Technology Beijing,1994,16(3):274-279. |
| |
| Authors: | Liu Hongfei ma xiangfeng zang ce |
| |
| Institution: | Liu Hongfei1),ma xiangfeng1),zang ce2) |
| |
| Abstract: | A new method is presented to analyze a manipulator in KED,which is to divide the manipulator into three kinds of substructures-elastic links, rigidities and transmission systems-and to assermble the system equation with all substructures through the compatible matrixes. It is proved that the simulation based on this method has less computation and provides more reliable data for disigning a manipulator or its control system. |
| |
| Keywords: | robot mechanisims substructure methods/KED simulation |
| 本文献已被 CNKI 维普 等数据库收录！ |
