摘要
二杆机械臂是一个典型的、简单的、具有2-DOF的机构,且具有较为复杂的动力学特性.通过对二杆机械臂进行深入研究,推导出较为完整的向量方程和动力学方程,建立了一个能够全面反映二杆刚性机械臂动力学特性的模型,为进一步研究二杆机械臂的控制系统提供了完善的平台,同时应用Matlab Simulink工具箱完成了对其动力学模型的仿真工作.
The two-link manipulator is a typical and simple mechanism with two degree-of-freedom that incorporates a large amount of complexity in its dynamics. This paper studies the system kinematics and dynamics, deuces a complete simultaneous constraint matrix and dynamic model and therefore a platform is built for further research. Meantime, the simulation model is built and the simulation results are analyzed by using Matlab Simulink.
出处
《沈阳工程学院学报（自然科学版）》
2008年第2期178-180,183,共4页
Journal of Shenyang Institute of Engineering:Natural Science
