机械手动特性建模及仿真分析

Model on Dynamic Characteristics and Simulation and Analysis of the Manipulator

列出机械手从驱动系到手臂的运动微分方程，并计及非线性环节的影响，建立了描述机械手特性的动态模型，给出了非线性校正方法。

In this paper, the motion calculus equation of the manipulator is written about drive and arm. With inclusion of varialbe rate loop, dyamic model of manipulator's characteristics is written. Rectification's way is given. And analysis by simulation is done.