| 5R机器人关节刚度对动态特性的影响 |
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| 引用本文： | 沈龙骥,方明伦.5R机器人关节刚度对动态特性的影响[J].上海大学学报(自然科学版),1996,2(6):622-626. |
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| 作者姓名： | 沈龙骥 方明伦 |
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| 作者单位： | 机电工程学院 |
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| 摘 要： | 本文着重分析了五转动副机器人．并以ＳＩＲ－Ⅱ为实测研究对象，讨论关节刚度对ＳＲ机器人末端手爪位姿和系统频率的影响
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| 关 键 词： | 齐次坐标变换，雅可比矩阵，关节刚度 |
The Influence of the Rigidity of Joints of 5R Robot on Dynamic Performance |
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| Shen Longji, Fang Minglun, Zhu Chuanbiao, Yang Hongfu.The Influence of the Rigidity of Joints of 5R Robot on Dynamic Performance[J].Journal of Shanghai University(Natural Science),1996,2(6):622-626. |
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| Authors: | Shen Longji Fang Minglun Zhu Chuanbiao Yang Hongfu |
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| Abstract: | This paper mainly analyzed 5R's Robot. The experiment was analyzed by using SIRII (Shanghai Industry Robot-II ). Then We discussed the influence of rigidity of joints on the status of position of the end of manipulator and system frequency of 5R Robot. |
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| Keywords: | alternate of homogeneous coordinates jacob matrix rigidity of joints |
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