高振新, 刘廷荣, 杨桂茂. 机器人运动弹性动力学建模的伽辽金变分法[J]. 机器人, 1991, 13(6): 15-21.
引用本文: 高振新, 刘廷荣, 杨桂茂. 机器人运动弹性动力学建模的伽辽金变分法[J]. 机器人, 1991, 13(6): 15-21.
GAO Zhenxin, LIU Tingrong, YANG Guimao. GALERKIN'S VARIATION APPROACH TO THE KINETO-ELASTIC DYNAMICS MODELING OF ROBOT[J]. ROBOT, 1991, 13(6): 15-21.
Citation: GAO Zhenxin, LIU Tingrong, YANG Guimao. GALERKIN'S VARIATION APPROACH TO THE KINETO-ELASTIC DYNAMICS MODELING OF ROBOT[J]. ROBOT, 1991, 13(6): 15-21.

机器人运动弹性动力学建模的伽辽金变分法

GALERKIN'S VARIATION APPROACH TO THE KINETO-ELASTIC DYNAMICS MODELING OF ROBOT

  • 摘要: 本文基于Newton-Euler方程,根据Timoshcnko弹性理论提出了空间运动机器人运动弹性动力学(KED)建模的伽辽金变分法.该模型全面考虑了各杆件(不一定为细长杆)的所有弹性变形(拉压、剪切、弯曲、扭转)均布质量、集中质量及刚体运动与弹性振动间耦合作用的影响,更准确地描述了机器人弹性振动.

     

    Abstract: On the basis of Newton-Eulcr's equation and Timoshenko's theory of elasticity, this paper presentsGalerkin's variational method to the kineto-clastic dynamics modeling of a spatial robot. This model comprehensively allows for the influences of all deformations (tensile, shear, bent. twist), distributed mass,centralized mass and the coupling effect between rigid body's motion and clastic vibration.

     

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