摘要
提出了空间柔性转子梁单元模型，建立了考虑关节及杆柔性的空间机器人动力学方程。首次给出了一个四杆空间机器人的数值算例，说明了柔性空间机器人的弹性变形对方向误差及位置误差都具有很重要的影响，杆和关节的弹履变形之间有相互耦合影响作用。
The model of a spatial flexible rotor beam element is presented, and the dynamic equations of spatial manipulators considering joint and link flexibility is derived. The numerical simulation of a 4R spatial manipulator is firstly given, the results show that elastic deformation of flexible spatial manipulators has significant effect on location errors and orientation errors of manipulators, and that deformation between joints and links couples each other.
出处
《机械科学与技术》
CSCD
北大核心
1998年第5期775-778,共4页
Mechanical Science and Technology for Aerospace Engineering
关键词
弹性变形
柔性转子梁单元
空间
机器人
动力学
Elastic deformation Spatial flexible rotor beam element Spatial manipulator
