摘要
根据广义坐标的不同定义应用Lagrange方程建立了两种表达形式的水平面内转动的两自由度柔性机械臂动力学模型;分析了两类方程的不同特点和适用领域;将模型的仿真结果和实验结果进行对比分析,验证了模型的准确性;为柔性臂动力学分析和下一步研究提供了理论指导及重要的前提条件。
Two classes of dynamic Models of a dual-flexible manipulator rotating in the plane of horizon were given basing on the definition of two sets of generalized coordinates. The characteristic and application fields of the models were studied. Studying between the simulations and experiments proved that the models are efficient. The models give theoretic instruction for dynamic study of the flexible manipulator and an important prerequisite for further research.
出处
《压电与声光》
CSCD
北大核心
2003年第6期525-529,共5页
Piezoelectrics & Acoustooptics
关键词
柔性臂
动力学模型
广义坐标
flexible manipulator
dynamic model
generalized coordinate
