| 基于凯恩方程的机器人动力学递推算法 |
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| 引用本文： | 马香峰,徐向荣,李德高. 基于凯恩方程的机器人动力学递推算法[J]. 北京科技大学学报, 1988, 0(2) |
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| 作者姓名： | 马香峰 徐向荣 李德高 |
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| 作者单位： | 北京钢铁学院机器人研究所(马香峰，徐向荣)，北京钢铁学院机器人研究所(李德高) |
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| 摘 要： | 本文在凯恩动力学方程的基础上,提出了一种新的机器人动力学递推算法。这种方法直观简练,可以不经拆链就能较方便地解决带有局部闭链结构的操作手动力学问题,尤其适用于计算机编程计算。本文用这种算法对2自由度4杆机构进行了计算,列出了它的动力学公式。
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| 关 键 词： | 机器人 凯恩方程 动力学算法 |
A Recursive Algorithm of Robot Dynamics Based on the Kane''''s Dynamical Equation |
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| Ma Xiangfeng Xu Xiangrong Li Degao. A Recursive Algorithm of Robot Dynamics Based on the Kane''''s Dynamical Equation[J]. Journal of University of Science and Technology Beijing, 1988, 0(2) |
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| Authors: | Ma Xiangfeng Xu Xiangrong Li Degao |
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| Affiliation: | Ma Xiangfeng Xu Xiangrong Li Degao |
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| Abstract: | This paper presents a new recursive algorithm of robot dynamics based on the Kane's dynamical equation.The algorithm is simple and illustrative,and can be used for solving dynamic problem of robots containing closed-chain without cutting the closed-chain open. Also, it is especial available to CAD of robot because it can be easily realized on computer.In the end of the paper,an example of computation of dynamics of robot with 2-DOF and one closed-chain is given to demonstrate computing stages and methods of establishing dynamic equation of robot using the new algorithm. |
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| Keywords: | robot Kane's equation algorithm of robot dynamics |
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