摘要
首先叙述基于有限元的具有柔性关节与柔性杆的机械臂动力学模型的建立与求解，然后对于机械臂柔性关节与柔性杆的耦合特性进行研究．结果表明，在重载的情况下。
The dynamic model, which is established and solved based on the finite element method, is presented in the paper. Then the dynamic coupling character of the flexible joints and flexible links which exist in the manipulator is studied. The results show that the dynamic coupling effect of the flexible joints and links can not be neglected under large payload.
出处
《机器人》
EI
CSCD
北大核心
1996年第4期224-227,共4页
Robot
基金
北京市科委及国家教委基金
关键词
柔性机械臂
动力学
耦合特性
机器人
Payload, flexible manipulator, dynamic, coupling character
