广义螺旋副双臂机械手的动力学分析

Dynamics Analysis for Double Arms Robot Manipulator of Generalized Helical Pair

本文对广义螺旋副双臂机械手的树形结构系统有向图进行研究,导出了该机械手以广义坐标表出的矩阵形式表述的动力规律。

This paper studied the directed graph of the tree structure of a double arms robot manipulator of generalized helical pair. The dynamics equations of this manipulator has been derived, and expressed in terms of generalized coordinates and written in matrix form.