摘要
根据D-H方法建立6R机器人的连杆坐标系,在此基础上,通过综合考虑机器人关节柔度与臂杆柔度,利用牛顿-欧拉法得到了6R机器人的柔体动力学方程;同时,根据模态理论计算了柔性机器人固有频率,并通过建立刚柔耦合模型进行仿真分析,验证了理论模型的正确性。
The paper firstly established a link coordinate system of 6R robot according to D-H method. On the basis of the coordinate system, flexible dynamic equations for the 6R robot were then given by means of Newton-Euler method considering joint flexibility and arm flexibility. Meanwhile, natural frequencies for the flexible 6R robot were calculated with modal theories. Finally, a rigid-flexible coupling modeling was set up for the robot, and simulation analysis was made with the model, and theresults proved the va- lidity of the dynamic modeling.
出处
《湖北工业大学学报》
2015年第4期65-69,共5页
Journal of Hubei University of Technology
关键词
关节柔度
臂杆柔度
柔体动力学
模态理论
刚柔耦合
joint flexibility
arm flexibility
flexible dynamics
modal theories
rigid-flexible coupling
