柔性机械手动力学研究进展

Dynamics research of flexible manipulators

针对柔性机械手动力学,重点从离散方法、建立数学模型、解决逆动力学问题三方面综述了国内外的研究情况,同时对离散的多种方法、建立模型的多种方法和逆动力学求解的多种方法各种方法进行了对比分析,并指出其优缺点。最后探讨了这一领域的发展方向和需要解决的问题。

This paper discusses the development of flexible manipulators in recent years in the aspects of discrete methods, establishment of mathematical models and solving inverse dynamics problem. Meanwhile, the various methods are compared and analyzed, and corresponding advantage and disadvantage are pointed out. Finally, it discusses the development direction of this field and the problems need to be solved.