摘要
用拉格朗日法解机构动力学时,哥氏力项在系统低速运转时对其影响很小,但在高速运动时有一定影响,教材中只对惯性力项和重力项进行化简,笔者在D-H后置坐标系中对哥氏力项进行推导。
When organization dynamics is solved by Lagrange law,the influence of coriolf′s force item is very small while it is rotating in low speed movement.But in high speed movement it has certain influence.In general,the teaching materials only provide the simplifications to the force of inertia item and the weight item.At last,the simplification to the Coriolf′s force item in the D-H postpositioned coordinate system is deduced.
出处
《机械研究与应用》
2009年第6期19-20,23,共3页
Mechanical Research & Application
关键词
拉格朗日动力学
哥氏力项
D-H后置坐标系
lagrange dynamics
coriolf′s force item
D-H postpositioned coordinate system
