操作机惯性张量椭圆分析

Analysis of inetia tensor ellipse of the manipulator

根据 Asada提出的广义惯性椭球 GIE的构造原则 ,推导了带有局部闭链操作臂的动力学方程 ,构造了工作空间特定平面内的广义惯性椭圆来评价操作臂的动力学性能 .模拟结果表明 ,该方法形象、直观 。

According to the GIE(generalized inetia tensor ellipsoid) making rule, the dynamics equations of the robot with part\|close\|chain arms were presented. On the basis of these equations, the generalized inetia tensor ellipses on special plane of working space were given to anticipate the specialty of the robot arms, the results showed that this method was more useful to robot design and control.