摘要
应用空间算子代数理论,在通用计算机符号演算软件Mathematica5.2的环境下,对多刚体系统反向动力学进行设计与实现。广义质量是正、反向动力学及联系旋量力和旋量加速度的重要参量,据此可形成高效递推算法。用空间算子代数理论求广义质量、反向动力学具有形式简洁、物理意义明确、编程效率高和直观等特征。运用VB.NET编程软件实现与Mathematica5.2软件无缝集成,对多刚体系统动力学仿真及反向动力学进行参数化分析与计算,给出了实施过程。根据分析结果,对PUMA560机器人进行了反向动力学设计,并与结果进行了对比,通过算例验证了结果的正确性和有效性。
The inverse dynamics of the rigid multibody system is studied based on ther spatial operator algebra theory, and the generalized mass procedure is realized in the environment of Mathematica 5.2 software. The high effective stepping method can be used to compute forward and inverse dynamics. It is an important factor for linking rotation force and rotation acceleration, and has a simple mathematical expression and a clear physical meaning. The software structure of the generalized mass and inverse dynamics is built and the rigid multibody system dynamics simulation model is realized based on the integrated procedure VB. NET and Mathematica 5.2. According to the analysis, the example of PUMA560 robot inverse dynamics is studied. Finally, the correctness and the validity are verified by the computed examples.
出处
《南京航空航天大学学报》
EI
CAS
CSCD
北大核心
2009年第1期102-106,共5页
Journal of Nanjing University of Aeronautics & Astronautics
基金
国家自然科学基金(50375071)资助项目
国防“十一五”预研重点基金资助项目
江苏省数字化制造技术重点实验室基金(HGDML-0601)资助项目
关键词
多刚体系统
反向动力学
广义质量
空间算子代数
rigid multibody system
inverse dynamics
generalized mass
spatial operator algebra （SOA）
