摘要
用 R.P.Paul的动力学分析方法对 2 P-1P3 R双臂机器人进行了动力学研究 ,推导出各关节驱动力或力矩的公式。用切削原理的方法结合微分几何的理论求解切削力。用 MATLAB语言开发出求各关节最大驱动力或力矩的软件 。
In order to apply two-arm robots to carving ma king,the dynamics of 2R-1P3R mechanism was studied by R.P.Paul's method.The dri ving force or torque calculating equations of every joint were deduced. By maki ng use of the methods about cutting theory and differential geometry,the cutting forces in the equations were calculated. The software for calculating the large st driving force or torque of every joint was developed with MATLAB language.The numerical calculation of a practical example was given.
出处
《机械科学与技术》
CSCD
北大核心
2003年第4期611-613,638,共4页
Mechanical Science and Technology for Aerospace Engineering
