双柔性机械臂多刚体模拟的动力学建模

Dynamic modeling for the multi-rigid-body simulation of two flexible manipulators

根据工程实际的需要,采用有限段方法建立了柔性臂的多刚体离散模型,提出双臂协调操作所需满足的约束条件,用凯恩方程建立了多刚体模拟的双柔性臂系统的动力学方程.

According to the need of engineering practice, establishes the multi-rigid-body discrete model of flexible manipulators by finite segment method. Puts forward the restriction conditions to satisfy the coordinated operation of two manipulators. Establishes the dynamic equation for multi-rigid-body simulation of two flexible manipulators system with Kane＇s equations.