柔性多臂机器人机构的建模

本文利用哈密尔顿原理建立了单臂和两臂系统的控制方程，用约束模态法和非约束模态法求解方程。研究了约束模态法的适用性，同时提出了一种双弹性机械臂的实用建模方法。方便简便，能借用单臂系统的程序仿真，也可推广于多臂系统。

Modeling of Flexible Multi-Link Arm Robotic Mechanism

The governing equations of one-link and two-link arm systems are derived byusing Hamilton's principle in this paper. Both the constrained-mode method and the unconstrained-mode method are applied to solve the equations for the one-link arm system and theapplicability of constrained-mode method is discussed. The characteristic parameters of applicability are suggested. A practical modeling method is presented for the two-link arm system. It is simpler and enables one to handle the governing equations by using the the sameanalytical approach and programs of the one-link arm system. The method can also be applied to multi-link arm systems.