Study on the Dynamics Modeling Method and Theory of Rigid-flexible Arm in Consideration of Environmental Characteristics
YUN Jin-tian1, WANG Shu-xin1, GUO Fu-xin2, CAO Yi 1
1. Department of Mechanical Engineering, Tianjin University, Tianjin 300072, China; 2. Douhe Power Plant of Beijing Datang Power Generation Co.Ltd, Tangshan 063028, China
贠今天, 王树新, 郭福新, 曹毅. 计及环境特征的刚-柔机械臂动力学建模方法与理论研究[J]. 机器人, 2004, 26(5): 448-453..
YUN Jin-tian, WANG Shu-xin, GUO Fu-xin, CAO Yi . Study on the Dynamics Modeling Method and Theory of Rigid-flexible Arm in Consideration of Environmental Characteristics. ROBOT, 2004, 26(5): 448-453..
Abstract：Based on Kane's equation, the dynamics model of rigid-flexible arm in inertial coordinate system is established. For general flexible multi-body system in consideration of environmental characteristics, environmental characteristics can be seen as external constraints to flexible multi-body system, and dynamical equations are set up for constrained general flexible multi-body system and also for the rigid-flexible arm.
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