摘要
根据所建立的振动力学模型,运用第二类拉格朗日方程建立了防风固沙机器人的数学模型.运用R-K方法和Matlab软件对模型求解,分析其振动特性.最后通过现场实验验证了该机器人的数学模型.对防风固沙机器人振动系统的研究将对类似结构振动的研究提供参考和借鉴.
Based on the dynamical vibration model, a mathematical model for check-straw-paving robots is first established using the second-type Lagrange＇ s equation. Then, the R-K method, together with Matlab^TM soft- ware, is applied to solve the mathematical model and analyze vibration features. For the purpose of wind-break- ing and sand-fixing,this model is finally verified through on-site experiments. Therefore, this approach sets a benchmark for relevant studies on structural vibration.
出处
《中国工程机械学报》
2008年第4期379-383,共5页
Chinese Journal of Construction Machinery
基金
"十一五"国家科技支撑计划资助项目(2006BAD11A15)
关键词
草方格
振动模型
六自由度
机器人
check straw
vibration model
six degrees of freedom
robot
