四自由度柔性关节机械臂的动力学分析

Modeling and simulation of 4-DOF manipulators with flexible joints

关节是机械臂的核心部件,在机械臂动力学中起着重要的作用,精确的关节动力学模型是机械臂系统设计、分析和控制的基础.以四自由度机械臂为研究对象,首先给出柔性关节机械臂的简化模型,然后运用La-grange方法建立了考虑关节柔性和电气特性动力学方程.

Joint is the key part of manipulators, which plays an important role in the dynamic. A precise joint dynamic model is the basis of design, analysis and control of manipulators. For the four-DOF manipulator the paper firstly gives a simplified model of the flexible joint manipulator,and then elaborates the joint flexibility and electrical characteristics, derivation of dynamic equations using the method of Lagrange.