基于旋量理论凯恩动力学方程的开链机器人动力学分析

Dynamics Analysis for Open-chain Manipulators Based on Screw Theory Kane Dynamic Equations

简介了主动力旋量、惯性力旋量、偏速度旋量、偏速度旋量矩阵及开链机器人旋量理论凯恩动力学方程。以三连杆开链机器人为例分析了其动力学。

Introduce the definitions of active wrench, inertial wrench, partial velocity twist, partial velocity twist matrix, and screw theory Kane dynamic equations for open - chain manipulators. Dynamics analysis of open- chain manipulator is achieved by three linkage manipulator as example.