| 一种四关节可控欠驱动机械手动力学模型的研究 |
| |
| 引用本文： | 何鹏,谭跃刚.一种四关节可控欠驱动机械手动力学模型的研究[J].机械制造与自动化,2007,36(3):36-38. |
| |
| 作者姓名： | 何鹏 谭跃刚 |
| |
| 作者单位： | 武汉理工大学机电工程学院,湖北,武汉,430070;武汉理工大学机电工程学院,湖北,武汉,430070 |
| |
| 摘 要： | 本文所述机械手是一种典型的可控欠驱动机械系统.基于此四关节机械手的运动学方程,结合拉格朗日功能平衡法及非完整系统的恰普雷金(Чаплыгин)方程,建立出四关节欠驱动机械手的动力学模型,结果符合一般非完整机械系统动办学结构模型,为进一步研究非完整欠驱动系统的机械特性奠定了基础.
|
| 关 键 词： | 欠驱动 非完整系统 机械手 动力学 |
| 文章编号： | 1671-5276（2007）03-0036-03 |
| 修稿时间： | 2007-01-19 |
Dynamic Model Research for a Four Joint Controllable Underactuated Manipulator |
| |
| HE Peng,TAN Yue-gang.Dynamic Model Research for a Four Joint Controllable Underactuated Manipulator[J].Machine Building & Automation,2007,36(3):36-38. |
| |
| Authors: | HE Peng TAN Yue-gang |
| |
| Affiliation: | School of Mechatronic Engineering, WuHan University of Technology, Wuhan 430070, China |
| |
| Abstract: | In this paper, based on the kinematics of four-joint manipulator which is typical and controllable under-actuated mechanical system, we presented its dynamic model by Lagrange function-balanced method and Chaplygin Equation. And it meets with nonholonomic mechanical system, in this way, it laid a foundation for further research in nonholonomic and underactuated system. |
| |
| Keywords: | underactuated nonholonomic system manipulator dynamic |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
|
