摘要
本文将机器人柔性操作机主体机构的构件视为质量连续分布的弹性体，首次根据弹性体振动理论求解机构各位姿的固有频率和主振型并建立了机构弹性动力学方程．
In this paper,the members of linkage for robotic flexible manipulators are regarded as elastic objects,whose mass is distributed continuously.The natural freguencies and modes of vibration of linkage at each posture can be solved and elastodynamic equations have been derived upon the theory of elastie object vibration.
出处
《天津理工学院学报》
1997年第4期28-34,共7页
Journal of Tianjin Institute of Technology
