摘要
基于回转键合图理论 ,推导出便于计算机自动生成的机器人系统状态方程的统一表达式 ,克服了非线性几何约束及微分因果关系给建立机器人系统状态方程所带来的代数环问题。所述方法特别适合于多能域并存的系统。结合具体实例给出机器人机构系统键合图表达方法 。
Based on gyrobondgraph theory, the unified formula of robot system state space equations is derived. The algebraic loop problem caused by nonlinear geometric constraints and differential causality in formulating the state space equations of robot systems can be solved by the procedure. This procedure is very suitable for the systems containing multi energy domains. Finally, a practical example illustrats, the validity of this procedure and the method for modeling robot mechanism systems by bond graph.
出处
《机械科学与技术》
CSCD
北大核心
2004年第7期852-856,共5页
Mechanical Science and Technology for Aerospace Engineering
