摘要
采用RPY角描述方法,基于拉格朗日方程建立了Stewart平台6-DOF并联机器人完整动力学模型。此 模型具有与一般机器人相同的结构,同时给出了模型所具有的基本性质。
In this paper, the RPY description method is adopted to develop the wholly dynamic model of the 6-DOF Stewart platform robot which is based on the Lagrange equation. The model has the same structure as normal robot. And its basic properties are also presented.
出处
《燕山大学学报》
CAS
2004年第3期228-232,共5页
Journal of Yanshan University
基金
河北省教委科技攻关资助项目(No.A393)。
