| 柔性机械手动力学控制方程的建立 |
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| 引用本文： | 李军强.柔性机械手动力学控制方程的建立[J].西安石油大学学报(自然科学版),1991(3). |
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| 作者姓名： | 李军强 |
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| 作者单位： | 西安石油学院石油机械系 |
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| 摘 要： | 本文利用4×4齐次变换矩阵推导出了单式开链柔性机械手的一种新形式动力学控制方程,讨论了在普通工业机械手和空间机械手不同情况下动力学方程的具体简化形式。在本文分析中,考虑了各种变形因素和各种运动的耦合,所得公式完整、简明、具体,对各种单式运动副机械手都适用。最后通过例子验证了本文动力学建模的正确性。
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| 关 键 词： | 齐次变换 变形 柔性机械手 动力学方程 |
Establishment of Dynamic Equations for Flexible Manipulators |
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| Li Junqiang.Establishment of Dynamic Equations for Flexible Manipulators[J].Journal of Xian Shiyou University,1991(3). |
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| Authors: | Li Junqiang |
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| Institution: | Department of Petroleum Mechanical Engineering |
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| Abstract: | In this paper, the new form dynamic equations are developed for open chain flexible manipulator with one degree freedom joints by using 4×4 transformation matrices, the specific simplified dynamic equations of general manipulator and space manipulator are discussed. In all the above formulas, the effects of all the factors of deformation and conpling motions are considered. All the formulas are complete and simple. They can be applied to manipulators consisting of rotary or sliding joints. At the end of the paper, an example is analysed to show the correctness of the method. |
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| Keywords: | homogeneous transformation deformation flexible manipulator dynamic equation |
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