关于带闭链工业机器人的动力学建模研究

On the Dynamic Modelling of Robotic Manipulators with Closed-Chain

本文在以影响系数矩阵为基础进行带闭链机器人的动力学方程推导时，采用了符号一数值方法。在计算机上获得一、二阶影响系数矩阵和动力学方程中各矩阵元素的最简解析表达式，解决了当分支的广义坐标数不等于６时出现的长方形（奇异）矩阵求逆的解析表达问题。在ＶＡＸ机上编制调试出了该方法相应的软件，并应用于一个带单闭链的孤焊机械手的动力学建模。

Based on the influence coefficient matrices,a symbolic- numeric approach is used for the dynamic modelling of robetic manipulators with closed-chain, Analytical expressions of elements of matrices in the dynamic equation and first and secend order irifluence coefficient matrix are derived automatically on the computer with ninimization of polynomial matrix dimensions and operations. For determining the analytical expressions of inverse of rectangular(singular)matrices appearing in the dynamic model and influence coefficients when the number of generallzed coordinates of branch is less than six , pseudo inverse is introduced which solves the probem efficiently, An example for the dynamic modelling of an industrial manipulator with single closed chain is given as well. [