| 空间五自由度机械手动力学的研究及仿真 |
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| 引用本文： | 李立全,庞永刚. 空间五自由度机械手动力学的研究及仿真[J]. 机械设计与制造, 2009, 0(9) |
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| 作者姓名： | 李立全 庞永刚 |
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| 作者单位： | 哈尔滨工程大学,机电学院,哈尔滨,150001;哈尔滨工程大学,机电学院,哈尔滨,150001 |
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| 摘 要： | 动力学的计算在机械手臂设计阶段和运动控制阶段都有实际意义.本文对空间五自由度机械手进行动力学分析并采用拉格朗日动力学方法建立理想情况下,即没有考虑摩擦影响下的动力学模型并结合相应计算机算法完成该机械手的动力学逆解仿真计算研究.
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| 关 键 词： | 机械手臂 动力学 拉格朗日方程 仿真 |
Simulation and research of the space 5-DOF manipulator dynamics |
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| LI Li-quan,PANG Yong-gang. Simulation and research of the space 5-DOF manipulator dynamics[J]. Machinery Design & Manufacture, 2009, 0(9) |
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| Authors: | LI Li-quan PANG Yong-gang |
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| Affiliation: | College of Mechanical and Electrical Engineering;Harbin Engineering University;Harbin 150001;China |
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| Abstract: | Dynamics calculation is meaningful both in the design stage and the movement control stage of a manipulator. It conducts dynamics analysis to the space 5-DOF manipulator and adopts the Lagrange dynamics method to establish an ideal model,i.e.,a dynamics model integrating with corresponding computer algorithm without considering the influences of friction force,to complete the research on the simulation calculation of dynamics inverse solution. |
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