| 对机器人平面执行机构动力学方程的探讨 |
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| 引用本文： | 刁彦飞,李焕军,赵化启.对机器人平面执行机构动力学方程的探讨[J].佳木斯大学学报,1999,17(1):5-7. |
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| 作者姓名： | 刁彦飞 李焕军 赵化启 |
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| 作者单位： | [1]哈尔滨工程大学机电工程学院 [2]黑龙江省森工总局合江分司 |
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| 摘 要： | 文章以开式链平面连杆机构为对象，从新的角度探索分析其动力学方程的建立问题，文中依次对类速度，类角速度，惯性系数，广义力给出新的求解通式，最后用拉格朗日方程建立相应的动力学方程。
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| 关 键 词： | 拉格朗日方程 开式链平面多杆执行机构 惯性系数 动力学方程 |
TO RESEARCH THE DYNAMICS EQUATION OF ROBOT'S PLANE PERFORMING MECHANISM |
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| Diao Yanfei,Li Huanjun,Zhao Huaqi.TO RESEARCH THE DYNAMICS EQUATION OF ROBOT'S PLANE PERFORMING MECHANISM[J].Journal of Jiamusi University(Natural Science Edition),1999,17(1):5-7. |
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| Authors: | Diao Yanfei Li Huanjun Zhao Huaqi |
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| Abstract: | Regarding the open chain plane multibar performing mechanism as the object, this paper analyzes its establishing problem of dynamics equation from new degree, and this paper gives the new general formula to the similar velocity, similar angular velocity, inertial coefficient by turns. At last, the corresponding dynamics equation is established by Lagrange equation. |
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| Keywords: | lagrange equation open chain plane multibar performing mechanism inertial coefficient dynamics equation |
| 本文献已被 CNKI 维普 等数据库收录！ |
