三自由度柔性受限机器人的动力学建模

为了提高处于受限运动状态的柔性机器人的控制精度，研究了一类三自由度柔性受限机制人的动力学建模问题，将其抽象为一平面三连杆受限机器人系统，利用D^,Alembert-Lagrange原理得到了一组由机器人各关节转角和柔性连杆的振动方程表示的该机器人的动力学模型。该模型在形式上与传统的无约束刚性机器人的动力学模型非常相似，具有模型精确的特点，从而为有效地控制此类机器人系统的运动和位姿提供了理论依据。基于此动力学模型，采用MATLAB对该机器人系统进行计算机编程仿真计算。仿真计算结果表明，该机器人系统的模型是可行且有效的。

Dynamic Modeling for Three-Freedom Flexible Constrained Robot

To improve the control precision of the flexible constrained robot, this paper discussed the dynamic modeling problem for a class of three-freedom flexible constrained robot. It abstracts the robot to a three-link constrained robot, establishes a set of dynamic model which is described by the robot joint angle and flexible linkage's vibration equation based on the D'Alembert-Lagrange principle. This dynamic model has the similar form with the unconstrained rigid robot. Moreover, the dynamic model is very precise, so it provides a theoretic basis for controlling the robot's locomotion and position. Based on the dynamic model, simulation computation for the robot was carried out by MATLAB. The simulation results confirm that the dynamic model is efficient and feasible.