多体机械手的一般动力学模型

Generalized Dynamic Model for Multibodies Manipulator

本文建立了多体机械手的一般动力学方程.设多体系统是由任意数目的刚体组成的树形拓扑结构,并认为铰是柱铰链,允许具有相对转动和滑动.考虑到实际问题中摩擦力的影响,采用Newton-Euler方法,建立了运动方程.进一步通过构造分配矩阵,将动力学方程分离,得到了一组实用的力方程和运动方程.

In this paper the general dynamical equations wen.- given for multibodies manipulator. The system is a topologic tree structure consisting of arbitrary number of rigid bodies. The hinges allow the rotational and/or translational motion. In consideration of influence of friction the dynamic equations are established by means of Newton-Euler's method. Further, the equations are separated by way of constructing the distribution matrices and a group of force and motion equations are obtained.