考虑粘滞阻尼时二连杆机器人动力学研究

The Kinematical Equation for the Dual-arm Damped Robot

通过应用粘弹性模型和Lagrange方程,建立了考虑构件材料阻尼的广义Lagrange方程。在此基础上,以二连杆机器人为计算实例,求得了该机器人的显式动力学方程,对提高机器人的控制精度具有一定的实践意义。

The generalized Lagrange equation allowing for damper is put forward by applying a viscoelastic damper model and a common Lagrange equation. On the basis of the equation, the explicit dynamitic equation about a dual - arm damped robot is deduced, it has a great practical benefit for improving the control accurate of this kind of robot.