摘要
本文基于Newton—Euler方程,根据Timoshcnko弹性理论提出了空间运动机器人运动弹性动力学(KED)建模的伽辽金变分法。该模型全面考虑了各杆件(不一定为细长杆)的所有弹性变形(拉压、剪切、弯曲、扭转)均布质量、集中质量及刚体运动与弹性振动间耦合作用的影响,更准确地描述了机器人弹性振动。
On the basis of Newton-Eulcr's equation and Timoshenko's theory of elasticity, this paper presentsGalerkin's variational method to the kineto-clastic dynamics modeling of a spatial robot. This modelcomprehensively allows for the influences of all deformations (tensile, shear, bent. twist), distributed mass,centralized mass and the coupling effect between rigid body's motion and clastic vibration.
出处
《机器人》
EI
CSCD
北大核心
1991年第6期15-21,共7页
Robot
关键词
机器人
建模
变分法
弹性动力学
modeling of robot
variational method
Newton-Euler's equation
Kineto-elasto Dynamics
Galerkin's variation
