摘要
以单杆柔性机械手为例，提出建立具有弹性关节的柔性机械手动力学方程的新方法，并将这种方法与刚度矩阵法对指端误差的影响进行比较。此法可推广到具有弹性关节的柔性多杆机械手中。
Taking one-link flexible manipulator as an example, a new method to establish the dynamic equations of flexible manipulator with elastic joint is presented in this paper. Then the influence of the new method on the error of the end effector is compared with that of the stiff matrix method, which shows the new method can be used in multi-links filexible manipulators with elastic joints.
出处
《北京工业大学学报》
CAS
CSCD
1995年第4期76-82,共7页
Journal of Beijing University of Technology
