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.