| 机器人操作手弹性动力学分析一般模型 |
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| 引用本文： | 凌云 刘才山. 机器人操作手弹性动力学分析一般模型[J]. 东南大学学报(自然科学版), 1990, 20(4): 89-96 |
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| 作者姓名： | 凌云 刘才山 |
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| 作者单位： | 东南大学机械工程系，东南大学机械工程系 |
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| 摘 要： |
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| 关 键 词： | 机器人 操作手 弹性动力学 有限元 |
A General Model for Elastodynamic Analysis of Robotic Manipulators |
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| Ling Yun Liu Caishan. A General Model for Elastodynamic Analysis of Robotic Manipulators[J]. Journal of Southeast University(Natural Science Edition), 1990, 20(4): 89-96 |
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| Authors: | Ling Yun Liu Caishan |
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| Affiliation: | Department of Mechanical Engineering |
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| Abstract: | This paper presents a general model for the elastodynamic analysis of robotic manipulators,which unifies the distributed-parameter-FEM and lumped-parameter-FEM.The equation derived includes the effects of the fle- xibility of links and joints,and the terms of the equation are discussed and directly given out when lumped-parameter approch is adopted.The general model is programmed on microcomputers,and applied to an industrial robotic manipulator. |
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| Keywords: | manipulator finite element method elastodynamics |
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