| 空间操作臂的高效率动力学建模方法 |
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| 引用本文： | 刘云平,顾和军,吴洪涛.空间操作臂的高效率动力学建模方法[J].华中科技大学学报(自然科学版),2011(6):75-78. |
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| 作者姓名： | 刘云平 顾和军 吴洪涛 |
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| 作者单位： | 南京信息工程大学信息与控制学院;南京信息工程大学经济管理学院;南京航空航天大学机电学院; |
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| 基金项目： | 国防科工委“十一五”预研项目 |
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| 摘 要： | 为了减轻在无外力情况下,空间操作臂系统的操作臂与载体之间的动力学耦合作用,结合增广体、虚拟操作臂及动力学等价操作臂理论,将系统转化为一个具有等效运动学及动力学的基座固定的操作臂系统,使得固定基座操作臂系统的建模方法可以直接应用到空间操作臂系统中,将高效率动力学建模方法空间算子代数理论应用到空间操作臂系统建模中,从而解决空间操作臂系统动力学建模复杂及效率不高的问题,易于计算工作空间,为实时控制奠定了基础.
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| 关 键 词： | 空间操作臂 运动学等效 动力学等效 空间算子代数 高效率 动力学建模 |
High effective dynamics modeling for space manipulators |
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| Liu Yunpinga Gu Hejunb Wu Hongtao.High effective dynamics modeling for space manipulators[J].JOURNAL OF HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY.NATURE SCIENCE,2011(6):75-78. |
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| Authors: | Liu Yunpinga Gu Hejunb Wu Hongtao |
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| Institution: | Liu Yunping1a Gu Hejun1b Wu Hongtao2(1 a College of Information and Control,b School of Economics and Management,Nanjing University of Information Science and Technology,Nanjing 210044,China,2 College of Mechanical and Electrical Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China) |
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| Abstract: | Without outside force,there is strong dynamic coupling between space manipulator and base body.To solve the problem,by using kinematically and dynamically equivalent many effective methods of dynamics of ground manipulators can be applied to space manipulators.By applying high effective and precise dynamic modeling method spatial operator algebra to space manipulators,the complex dynamics modeling and low effective computation of space multibody system can be solved,forming the base of dynamics and real tim... |
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| Keywords: | space manipulator kinematically equivalent dynamically equivalent spatial operator algebra high efficiency dynamic model |
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