摘要
以机械手抓取物体为分析对象，以动力学Ｋａｎｅ方程为基础，建立机械手的动力学数学模型，导出机械人系统动力学方程，并提出机器人系统优化设计的一般方法。这种方法便于编程计算，算法简洁，对机器人的精密设计计算具有普遍适用意义。
This paper constructs dynamic mathematical model of robots based on Kane's Equation for studying grasped objects. It also derives some dynamic equations and achieves a new method on the optimization design of mechanical manipulator. The new method shall be efficiently used in precise design of robot and the algorithm is very simple to be programmed easily.
出处
《安徽建筑工业学院学报（自然科学版）》
1998年第1期63-66,共4页
Journal of Anhui Institute of Architecture(Natural Science)
关键词
KANE方程
机械手
动力学方程
优化设计
kane′s equation, mechanical aanipulator, dynamic equation, optimization design
