摘要
从柔性机器人协调操作的本质特性出发 ,巧妙采用机器人与负载的有限元模型 ,以主臂抓持梁为位形基准 ,首次建立了柔性机器人协调操作柔性负载系统的运动学协调约束条件 ,导出了其系统动力学方程 ,并成功的给出了两 3R柔性机器人协调操作一柔性梁负载的仿真算例。
Based on the kinematic and dynamic coordinated constraints, the dynamic model of two cooperative flexible robots manipulating a flexible load is developed for the first time by using integrative finite element method and Lagrange equation. A numerical example of two planar 3R flexible robots manipulating a flexible beam is realized successfully and the analysis of its inverse dynamics shows that the flexibility of robot and load should not be neglected. Basides, appropriate start-up and brake rules are important to the precision of the system.
出处
《机械科学与技术》
CSCD
北大核心
2002年第4期565-568,共4页
Mechanical Science and Technology for Aerospace Engineering
基金
国家自然科学基金项目 ( 5 9975 0 0 1)
北京市自然科学基金项目 ( 30 12 0 0 3)资助
