| 树形平面机械手的动力学方程 |
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| 引用本文： | 李明义. 树形平面机械手的动力学方程[J]. 贵州工业大学学报(自然科学版), 1990, 0(2) |
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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： | 用图论的观点和多刚体系统动力学中增广体概念,对多关节平面机械手的树形结构系统有向图进行研究,导出该机械手便于进行数值计算和程序设计以广义坐标表出的动力学方程。并对机械手各构件为杆状的情况,作了具体分析。
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| 关 键 词： | 机械手 多刚体系统 树形结构 关键矩阵 增广体 动力学方程 |
Plane Motion and Analysis of Motion for Tree-shaped Multi-Rigid-Body Systems |
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| Li Mingyi. Plane Motion and Analysis of Motion for Tree-shaped Multi-Rigid-Body Systems[J]. Journal of Guizhou University of Technology(Natural Science Edition), 1990, 0(2) |
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| Authors: | Li Mingyi |
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| Affiliation: | Department of Engineering Education |
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| Abstract: | From the point of view of graph theory and the concept of augmented bodies in dynamics of systems of rigid bodies,the writer studied directed graph of multi-knuckle plane manipulator hand in tree shaped structure system.And the dynamical equations are expressed in terms of generalized coordinates so that they can be used for computing and programming of this manipulator hand.And an actual analysis of the bar shaped components of manipulator hand was made. |
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| Keywords: | manipulator hand systems of rigid bodies tree shaped structure incidence matrix augmented body dynamical equation |
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