摘要
建立了刚-柔混合两杆机械臂的动力学方程,并进行了数值仿真,分别讨论了在大范围运动已知条件下和大范围运动未知条件下,刚-柔混合机械臂的动力学响应。在大范围运动未知条件下,又讨论了刚性机械臂和柔性机械臂的运动对系统动态响应的影响。
The dynamic equations of rigid-flexible two-links manipulators were established and the numerical simulation was car- ried out, the dynamic response of two-link rigid-flexible manipula- tors with known and unknown large motion conditions had been studied respectively. The effect of rigid and flexible manipulators on the system dynamic response is also discussed undergoing an un- known large overall motion condition.
出处
《机械设计》
CSCD
北大核心
2013年第2期27-31,共5页
Journal of Machine Design
基金
国家自然科学基金资助项目(10972192)
