摘要
给出了机器人机构动态仿真的键合图法，推导出了机器人系统状态方程的统一表达式。通过将运动副约束反力视为未知势源加在系统键合图模型相应的０－结处，克服了微分因果关系给系统状态方程的建立所带来的巨大的代数困难。结合具体实例给出了机器人机构系统键合图模型的建立方法，说明本方法的通用性及实用性。
In this paper,a bond
graph method for the dynamic simulation of robot mechanisms is introduced in detail.To
overcome the great algebraic difficulty brought by differential causality in formulating system
state-space equations,the constraint forces at joints can be considered as unknown effort
source and added to the corresponding O-junctions in system bond graph model.By the
practical examples,the procedure to give the bond graph model of robot system is provided,and
the generality and availability of the method given here are illustrated.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
1999年第3期272-275,共4页
China Mechanical Engineering
关键词
键合图
动态仿真
机器人机构
状态方程
bond graph
dynamic simulation robot mechanism state space equations
