| 基于目标运动规划的柔性机器人协调操作闭链刚性负载的动力学模型 |
| |
| 引用本文： | 窦建武,余跃庆.基于目标运动规划的柔性机器人协调操作闭链刚性负载的动力学模型[J].机械科学与技术(西安),2001,20(2):161-163,168. |
| |
| 作者姓名： | 窦建武 余跃庆 |
| |
| 作者单位： | 北京工业大学!北京100022 |
| |
| 基金项目： | 国家自然科学基金资助项目! (5 9975 0 0 1) |
| |
| 摘 要： | 多个刚性机器人协调操作闭链负载 ,目前已在其运动学方面有了一些研究 ,但在柔性机器人领域中 ,对此问题的研究尚未展开。本文在对闭链负载机构运动微分关系线性化基础上 ,利用有限元法和 L agrange方程 ,推导出柔性机器人协调操作系统的运动学及动力学协调约束条件 ,建立了系统的动力学方程 ,并给出了平面两个 3R柔性机械臂协调操作平面刚性四杆机构完成目标运动规划任务的逆动力学问题的数值算例
|
| 关 键 词： | 柔性机器人 协调操作 闭链 动力学 |
| 文章编号： | 1003-8728(2001)02-0161-03 |
The Dynamic Model of two Flexible Robots Manipulating a Closed-loop Linkage Based on the Kinematic Planning of Objective |
| |
| DOU Jian-wu,YU Yue-qing.The Dynamic Model of two Flexible Robots Manipulating a Closed-loop Linkage Based on the Kinematic Planning of Objective[J].Mechanical Science and Technology,2001,20(2):161-163,168. |
| |
| Authors: | DOU Jian-wu YU Yue-qing |
| |
| Abstract: | Based on the linearized differential relationship in a closed-loop linkage payload, the kinematic and dynamic coordinated constraints of the whole system are derived. The system dynamic equations are then developed for the first time by using finite element method and Lagrange equation. A numerical example of the inverse dynamics of two planar 3-R flexible robots manipulating a four-bar linkage to realize the kinematic planning task of the objective is illustrated successfully. |
| |
| Keywords: | Flexible manipulator Cooperation Closed-loop Dynamics |
| 本文献已被 CNKI 维普 等数据库收录！ |
