管贻生, 安永辰. 机器人手臂弹性动力学分析的Kane方法[J]. 机器人, 1992, 14(1): 45-51.
引用本文: 管贻生, 安永辰. 机器人手臂弹性动力学分析的Kane方法[J]. 机器人, 1992, 14(1): 45-51.
GUAN Yisheng, AN Yongchen. A NEW METHOD OF DYNAMICS OF FLEXIBLE ROBOT MANIPULATORS BASED ON KANE’S METHOD AND MODEL ANALYSIS[J]. ROBOT, 1992, 14(1): 45-51.
Citation: GUAN Yisheng, AN Yongchen. A NEW METHOD OF DYNAMICS OF FLEXIBLE ROBOT MANIPULATORS BASED ON KANE’S METHOD AND MODEL ANALYSIS[J]. ROBOT, 1992, 14(1): 45-51.

机器人手臂弹性动力学分析的Kane方法

A NEW METHOD OF DYNAMICS OF FLEXIBLE ROBOT MANIPULATORS BASED ON KANE’S METHOD AND MODEL ANALYSIS

  • 摘要: 本文将Kane动力学方法与假设模态法相结合.给出一种分析机器人手臂弹性动力学的新方法.首先基于Kane方法的运动学概念,并应用假设模态法建立了手臂弹性运动学.推导出完整的弹性动力学方程.并以一简例说明了其应用过程.这种方法比较简洁,兼具Lagrange法和Newton-Euler法的优点而克服了其不足,便于计算机数值分析.

     

    Abstract: Based on the kinematic concepts of Kane's method and modal analysis,the kinematics of flexible ro-bot manipulators has been developed,then the dynamic equations of flexible robot manipulatorsproposed.This new method has the advantages of Lagrangian method and Newton-Euler method,but re-jects their drawbacks.

     

/

返回文章
返回