| 多关节机械手碰撞约束反力冲量和冲量矩的算法 |
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| 引用本文： | 李明义. 多关节机械手碰撞约束反力冲量和冲量矩的算法[J]. 贵州工业大学学报(自然科学版), 1992, 0(3) |
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| 作者姓名： | 李明义 |
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| 作者单位： | 贵州工学院工程教育系 |
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| 摘 要： | 本文采用Roberson.E.—Wittenburg.J.研究多刚体系统动力学的方法,利用图论观点和增广体概念,对RSRRS机械手的树形结构系统有向图进行研究,导出了机械手各关节约束反力冲量和冲量矩的计算式。该动力学方程组是以广义坐标表出并用矩阵形式表示,便于进行数值计算和程序设计。
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| 关 键 词： | 机械手 碰撞 多刚体系统 关联矩阵 树形结构 增广体 |
CALCULATION OF IMPULSES AND IMPSLSE COUPLES OF IMPACT CONSTRAINT FORCE FOR JOINT MANIPULATOR HAND |
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| Li Mingyi. CALCULATION OF IMPULSES AND IMPSLSE COUPLES OF IMPACT CONSTRAINT FORCE FOR JOINT MANIPULATOR HAND[J]. Journal of Guizhou University of Technology(Natural Science Edition), 1992, 0(3) |
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| Authors: | Li Mingyi |
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| Abstract: | The directed graph of tree shaped structure system for RSRRS manipulator hand are studied with the method of dynamics of systems of rigid bodies proposed by Roberson E, Wittenburg J, making use of the view-point of graph theory and the concept of augmented bodies. Therefore, the calculation formula of impulses and impules couples of impact constraint force for joint manipulator hand is inferred. The dynamical equations are expressed in terms of generalized coordinates and written in matrix term so that they can be easily used for calculating and program designing. |
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| Keywords: | manipulator hand impact system of rigid bodies incidence matrix tree shaped structure augmented body |
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