摘要
文章以开式链平面连杆机构为对象，从新的角度探索分析其动力学方程的建立问题，文中依次对类速度、类角速度、惯性系数、广义力给出新的求解通式．最后用拉格朗日方程建立相应的动力学方程．
Regarding the open chain plane multibar performing mechanism as the object, this paper analyzes its establishing problem of dynamics equation from new degree, and this paper gives the new general formula to the similar velocity, similar angular velocity, inertial coefficient by turns. At last, the corresponding dynamics equation is established by Lagrange equation.
出处
《佳木斯大学学报（自然科学版）》
CAS
1999年第1期5-7,共3页
Journal of Jiamusi University：Natural Science Edition
基金
国家自然科学基金
关键词
拉格朗日方程
机器人
执行机构
动力学方程
lagrange equation, open chain plane multibar performing mechanism, inertial coefficient, dynamics equation
