| 单连杆柔性机械臂动力学模型分析 |
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| 引用本文： | 王大龙,陆佑方,郭九大. 单连杆柔性机械臂动力学模型分析[J]. 吉林大学学报(工学版), 1998, 0(2) |
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| 作者姓名： | 王大龙 陆佑方 郭九大 |
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| 作者单位： | Wang Dalong Lu Youfang Guo Jiuda (College of Sciences) (College of Automotive Engineering) |
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| 摘 要： | 针对单连杆柔性机械臂研究了几种不同因素对其动力学响应的影响。分析了假设模态的数目对系统响应的影响，导出了模态截断与系统惯性矩阵的关系。分析了连杆的纵向变形引起的离心力纵向效应与系统响应的关系。
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| 关 键 词： | 动力学模型模态截断纵向变形 |
Model Analysis of a Single rod Flexible Robotic Manipulator |
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| Abstract: | In this paper,influence of several factors on the dynamic response of a single rod flexible robotic manipulator is studied.The influence of mode truncation is discussed and the relationship between the mode truncation and the inertia matrix is derived.The influence of the elongation component of centrifugal force caused by the elongation deformation to the system is also analyzed. |
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| Keywords: | dynamic model mode truncation elongation deformation |
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