带闭链六自由度工业机器人动力学解析模型

提出了一种建立带闭链工业机器人动力学解析模型的方法。将闭链的某一非主动关节的运动副拆开，其运动关系用约束方程来代替，从而形成带有附加约束的等效开链系统，然后基于Kane动力学方程，导出了显式形式的动力学方程。推导解析模型时将部分变量处理为符号量，其余变量处理为数字量，获得了动力学各模型矩阵元素的数字一符号表达式，并给出一计算实例。

Dynamics analytical model of 6-dof industrial robot containing closed chain

A kind of method of establishing the dynamics analytical model for close-chained industrial robot was established. Let the moving pairs of certain non-driving joint in the closed chain be disassembled and its motion relationship be substituted by constraint equations, thus formed an equivalent open chained system with additional constraint. Afterwards, the explicit formed dynamics equation was derived on the base of Kane dynamics equation. While deriving the analytical model, let partial variables be processed as symbolic amounts, and others be processed as numeric amounts, in this way the numeric-symbolic expressions for matrices elements of each dynamics model were obtained. Finally, a living calculation example was presented.