| 机器人结构弹性动力学建模 |
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| 引用本文： | 周根泉 郭务仁. 机器人结构弹性动力学建模[J]. 东南大学学报(自然科学版), 1989, 19(6): 22-29 |
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| 作者姓名： | 周根泉 郭务仁 |
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| 作者单位： | 东南大学机械工程系，东南大学机械工程系，东南大学机械工程系 |
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| 摘 要： |
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| 关 键 词： | 机器人 结构 弹性动力学 分析模型 |
Modelling of The Elasto-Dynamic Analysis of Robots |
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| Zhou Genquan Guo Wuren Leng Uun. Modelling of The Elasto-Dynamic Analysis of Robots[J]. Journal of Southeast University(Natural Science Edition), 1989, 19(6): 22-29 |
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| Authors: | Zhou Genquan Guo Wuren Leng Uun |
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| Affiliation: | Department of Mechanical Engineering |
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| Abstract: | In this paper, the elastic dynamics analysis model of jointed robot is established with Finite Element Method. The treating of joint flexibility and the joint coordinate transformation in the process of the assembling of system are discussed in detail, and the relevant programs are also designed. The programs can solve the natural frequencies, the deflections of robot tip at any position, the maximum equivalent stress at any given cross-section, the viberation models at terminal position and the time of residual vibration. All the calculation can be graphed if necessary. At the end of this paper, a jointed robot with six degrees of freedom is taken as an example, all the dynamic behaviors of it are discussed fully. |
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| Keywords: | manipulators finite element method elastic dynamics |
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