双三轴相交冗余自由度机器人动力学建模

Dynamic modelling of the redundant freedom robot with two triaxial intersections

分析了水轮机对形修磨机器人双三轴相交的特殊结构．在建立连杆坐标系的基础上，采用牛顿-欧拉方法建立其动力学数学模型，为研究机器人动态特性，进行动力学优化提供理论基础．

This paper analyzes the special structure of the grinding robot, which is appliedto water turbine impeller overhaul. hased on the definition of Cartesian coordinates fixed ondifferent linkages, the dynamic model of the robot is established with Newton-Euler method.It provides the theoretical basis for studying the dynamic character and the optimization ofdynamics.