摘要
本文运用有限元方法建立了考虑杆及关节柔性的多杆柔性机器人动力学微分方程,并对纽马克法进行修正,用来求解多杆柔性机器人的瞬态动响应,获得满意的结果。
Finite Element method is used to establish dynamic differential equations of multiple links flexi-ble robot in the paper.while links′and joints′flexibility are considered. Then Newmark method is modified and used to solve the dynamic equations. It is found that the modified Newmark method is efficient and accurate in obtaining the transient dynamic response of multiple links flexible robot.
出处
《机器人》
EI
CSCD
北大核心
1995年第5期269-273,共5页
Robot
基金
国家教委优秀青年教师基金
北京市科技新星项目支持
关键词
机器人
动力学方程
瞬态动态响应
数值求解
Multiple links,flexible robot.dynamic equation,response,numerical method