| 双连杆柔性机械臂动力学方程仿真 |
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| 引用本文： | 于学军,沈长妹,王彬,于桦.双连杆柔性机械臂动力学方程仿真[J].吉林大学学报(工学版),1998(1). |
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| 作者姓名： | 于学军 沈长妹 王彬 于桦 |
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| 作者单位： | 吉林工业大学，长春大学 |
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| 摘 要： | 研究了机械臂系统动力学方程的数值解法。通过拉格朗日方程建立了考虑关节弹性变形的双连杆机械臂系统动力学方程。由于系统中存在着高频振荡，使微分方程变为难解的高阶层非线性微分方程组。本文对此方程组采用四阶龙格－库塔法进行数值分析，得到了较好的数值结果。
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| 关 键 词： | 双连杆柔性机械臂 龙格－库塔法 柔性多体系统 |
Simulation of Robotic Arms System |
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| Yu Xuejun,Shen Changmei,Wang Bing.Simulation of Robotic Arms System[J].Journal of Jilin University:Eng and Technol Ed,1998(1). |
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| Authors: | Yu Xuejun Shen Changmei Wang Bing |
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| Affiliation: | Yu Xuejun Shen Changmei Wang Bing (Jilin University of Technology) Yu Hua (Changchun University) |
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| Abstract: | The paper is about the numerical solution of the equation of robotic arms system.Based upon the Lagrange′s equation,the dynamic equation of the two robotic arms system with elastic joint has been established.Because the high frequency oscilation exists in the system,the differential equation becomes very difficult.In this paper the author uses Runge kutta method to solve the problem.A satisfactory result is reached. |
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| Keywords: | two robotic arms Runge kutta multi flexible system |
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