| 机器人完全动力学问题的回转键合图法 |
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| 引用本文： | 王中双,陆念力,徐长顺.机器人完全动力学问题的回转键合图法[J].机械科学与技术(西安),2004,23(7):852-856. |
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| 作者姓名： | 王中双 陆念力 徐长顺 |
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| 作者单位： | [1]哈尔滨工业大学机电工程学院，哈尔滨150001 [2]齐齐哈尔大学机械系，齐齐哈尔161006 |
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| 摘 要： | 基于回转键合图理论 ,推导出便于计算机自动生成的机器人系统状态方程的统一表达式 ,克服了非线性几何约束及微分因果关系给建立机器人系统状态方程所带来的代数环问题。所述方法特别适合于多能域并存的系统。结合具体实例给出机器人机构系统键合图表达方法 ,并说明本文方法的有效性
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| 关 键 词： | 机器人 完全动力学 回转键合图法 |
| 文章编号： | 1003-8728(2004)07-0852-05 |
Gyrobondgraph Method for the Complete Dynamic Problem of Robot |
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| WANG Zhong shuang ,LU Nian li ,XU Chang shun.Gyrobondgraph Method for the Complete Dynamic Problem of Robot[J].Mechanical Science and Technology,2004,23(7):852-856. |
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| Authors: | WANG Zhong shuang LU Nian li XU Chang shun |
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| Affiliation: | WANG Zhong shuang 1,LU Nian li 1,XU Chang shun 2 |
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| Abstract: | Based on gyrobondgraph theory, the unified formula of robot system state space equations is derived. The algebraic loop problem caused by nonlinear geometric constraints and differential causality in formulating the state space equations of robot systems can be solved by the procedure. This procedure is very suitable for the systems containing multi energy domains. Finally, a practical example illustrats, the validity of this procedure and the method for modeling robot mechanism systems by bond graph. |
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| Keywords: | Robot Complete dynamics Gyrobondgraph |
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