摘要
多个刚性机器人协调操作闭链负载 ,目前已在其运动学方面有了一些研究 ,但在柔性机器人领域中 ,对此问题的研究尚未展开。本文在对闭链负载机构运动微分关系线性化基础上 ,利用有限元法和 L agrange方程 ,推导出柔性机器人协调操作系统的运动学及动力学协调约束条件 ,建立了系统的动力学方程 ,并给出了平面两个
Based on the linearized differential relationship in a closed-loop linkage payload, the kinematic and dynamic coordinated constraints of the whole system are derived. The system dynamic equations are then developed for the first time by using finite element method and Lagrange equation. A numerical example of the inverse dynamics of two planar 3-R flexible robots manipulating a four-bar linkage to realize the kinematic planning task of the objective is illustrated successfully.
出处
《机械科学与技术》
EI
CSCD
北大核心
2001年第2期161-163,168,共4页
Mechanical Science and Technology for Aerospace Engineering
基金
国家自然科学基金资助项目! (5 9975 0 0 1)
