|
|||||
|
|
| 柔性机械臂逆动力学问题的分析和求解 | |
| 引用本文： | 田中旭,刘正兴,陆佑方.柔性机械臂逆动力学问题的分析和求解[J].上海交通大学学报,2002,36(3):416-419. |
| 作者姓名： | 田中旭 刘正兴 陆佑方 |
| 作者单位： | 1. 上海大学,CIMS及机器人中心,上海,200072 2. 上海交通大学,工程力学系,上海,200030 3. 吉林大学,理学院,长春,130025 |
| 摘 要： | 采用割线坐标系对机械臂的运动进行了描述 ,并分快变和慢变两方面进行逆动力学问题的分析与求解 .在对快变部分逆动力学性质的分析中发现 ,快变部分精确的逆动力学解是发散的 .在进行柔性机械臂逆动力学求解时 ,应在慢变的意义上进行 .文中给出了一种去掉系统快变部分的简单方法 ,并进行了逆动力学求解 .数值仿真结果表明 ,该处理方法是合理的 |
| 关 键 词： | 柔性机械臂 动力学 逆动力学 振动 大范围运动 |
| 文章编号： | 1006-2467(2002)03-0416-04 |
| 修稿时间： | 2001年4月11日 |
Analysis and Solution for Inverse Dynamic Problems of Flexible Arms |
|
| TIAN Zhong xu ,LIU Zheng xing ,LU You fang.Analysis and Solution for Inverse Dynamic Problems of Flexible Arms[J].Journal of Shanghai Jiaotong University,2002,36(3):416-419. | |
| Authors: | TIAN Zhong xu LIU Zheng xing LU You fang |
| Institution: | TIAN Zhong xu 1,LIU Zheng xing 2,LU You fang 3 |
| Abstract: | The paper concentrates on the analysis and solution for inverse problems of flexible arms. A secant coordinate system was introduced to describe the location of the two link arm. The fast (vibration) part and the slow part were analyzed for the inverse problems. The solutions for the fast part are found emanative through the analysis. So, the solution for the flexible arms should be carried out when only the slow part is included. A simple method is given to get rid of the fast part and the solutions for the inverse problems are got. The numerical results show that this method is correct. |
| Keywords: | flexible arm dynamic inverse dynamic vibration movement with large range |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ | |