| 钢铁机器人—1操作手动力方程的建立 |
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| 引用本文： | 宫心喜,冯德坤. 钢铁机器人—1操作手动力方程的建立[J]. 北京科技大学学报, 1987, 0(1) |
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| 作者姓名： | 宫心喜 冯德坤 |
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| 作者单位： | 北京钢铁学院数学力学系机器人研究组(宫心喜)，北京钢铁学院数学力学系机器人研究组(冯德坤) |
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| 摘 要： | 本文应用拉格朗日方程和保罗近似方法[1]来建立我院钢铁机器人—1操作手的动力方程。为了突出动力方程的物理意义,而根据操作手机构的动能和势能,来找出各关节力矩与各关节角加速度之间的简单关系式;为了实际应用,利用保罗近似方法来简化求导计算过程。
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| 关 键 词： | 机器人操作手 拉格朗日方程 保罗近似方法 |
Establish the Dynamic Equations of Steel Robot-1 Manipulator |
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| Gong Xinxi Feng Dekun. Establish the Dynamic Equations of Steel Robot-1 Manipulator[J]. Journal of University of Science and Technology Beijing, 1987, 0(1) |
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| Authors: | Gong Xinxi Feng Dekun |
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| Affiliation: | Gong Xinxi Feng Dekun |
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| Abstract: | In this paper, Using the Lagrangian equations, the dynamics equations of Steel Robot - 1 manipulator of our university is established to explain the physical sense of dynamic equations. By means of the kinetic energy and the potential energy of the manipulator mechanism, the simple relation between the joint torques and the joint angular accelerations are found out. Paul's approximate method is used to simplify the process of the derivation for applying actually. |
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| Keywords: | robot manipulator lagrangian equatio n Paul's approximate method |
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