摘要
本文基于Jourdain变分原理提出一种柔性机械臂动力学方程的单向递推组集方法。用规则标号法描述系统中物体和铰的邻接关系;用铰相对坐标和模态坐标分别描述物体的大位移运动和弹性变形。文末以三连杆机器人操作手为例说明本文建模的过程。
In this paper, a new recursive technique for construction of dynamic equations of flexible manapulators is suggested based on the Jourdain's principle. The structure of the system is described through regular labelling method; The joint relative coordinates and modal coordinates are used to describe the large displacements between contiguous bodies and small deformations of bodies. At first, the recursive kinematic relations are derived, and in every step of recursion, contributions of every body to the generalized mass matrix and generalized force matrix are formed through calling the body's mass matrix and force matrix in absolute coordinates. Finally, the method in this paper is demonstrated through an example of a manapulator with three flexible links.
出处
《力学学报》
EI
CSCD
北大核心
1993年第3期327-333,共7页
Chinese Journal of Theoretical and Applied Mechanics
基金
国家自然科学基金
上海市青年科技基金
关键词
柔性体
机械臂
动力学方程
机器人
flexible body, manapulators, recursive method, dynamic equations, construction
