张绪平, 余跃庆. 具有柔性关节和柔性杆的空间机器人频率特性[J]. 机器人, 1998, 20(5): 342-345,351.
引用本文: 张绪平, 余跃庆. 具有柔性关节和柔性杆的空间机器人频率特性[J]. 机器人, 1998, 20(5): 342-345,351.
ZHANG Xuping, YU Yueqing. ON THE FREQUENCY OF SPATIAL MANIPULATORS WITH FLEXIBLE JOINTS AND LINKS[J]. ROBOT, 1998, 20(5): 342-345,351.
Citation: ZHANG Xuping, YU Yueqing. ON THE FREQUENCY OF SPATIAL MANIPULATORS WITH FLEXIBLE JOINTS AND LINKS[J]. ROBOT, 1998, 20(5): 342-345,351.

具有柔性关节和柔性杆的空间机器人频率特性

ON THE FREQUENCY OF SPATIAL MANIPULATORS WITH FLEXIBLE JOINTS AND LINKS

  • 摘要: 借助于柔性转子梁单元的动力学模型,通过一个空间4杆机器人的数值模拟,研究了综合考虑杆和关节柔性的空间机器人的固有频率与其结构参量之间的内在关系,并从理论上进行了分析.同时,讨论了柔性机器人的频率特性及动态响应的一些规律.

     

    Abstract: The numerical simulation of a 4R 4 link spatial manipulator is performed firstly, and the inherent relationship between the natural frequency and the structural parameters is then studied. The effect of joint flexiblity on the frequency properties and the relationship between the structural parameters and dynamic responses are also discussed.

     

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