摘要
本文对引用弹性元件的二自由度谐式机器人的动力学进行了分析,在该模型中引入了负反馈系统。按预期的机构运动规律和系统的稳定性要求,研究了反馈放大系数的合理选择,并对构件单独和同时运动的仿真图线进行了分析。
This paper analyses the dynamics of two-degree-freedom self-resonance robot in which elastic elements are used and negativefeedback system is introduced. Based on the law of motion of themachanism and the requirement of stability of the system, thereasonal option of enlarged fraction of negative graphs for themechanism moved singly and simultaneously is analysed.
关键词
机器人
动力学
自谐
稳定性
self-resonance
negative feedback
stability
