| 受限柔性机器人臂的动力学分析 |
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| 引用本文： | 张成新,余跃庆. 受限柔性机器人臂的动力学分析[J]. 中国机械工程, 2003, 14(5): 424-426 |
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| 作者姓名： | 张成新 余跃庆 |
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| 作者单位： | 北京工业大学,北京市,100022 |
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| 基金项目： | 国家自然科学基金资助项目(59975001) |
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| 摘 要： | 针对柔性机器人臂操作受作业环境约束的刚性负载，建立了系统的动力学模型。根据物体与作业环境的约束关系。推导出系统的正动力学模型。以期望的被操作物体的轨迹和物体与环境的作用力为边界条件，推导出系统的逆动力学模型，由此所求出的柔性机器人臂的输出关节角和关节驱动力矩可使机器人臂操作物体准确地实现期望轨变和与环境的作用力，并就具有三柔性杆机器人臂操作刚性负载进行了仿真，验证了方法的有效性。
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| 关 键 词： | 动力学分析 柔性机器人臂 动力学建模 受限运动 轨迹跟踪 |
| 文章编号： | 1004-132X(2003)05-0424-03 |
Dynamic Analyses of Constrained Flexible Manipulators |
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| Zhang Chengxin. Dynamic Analyses of Constrained Flexible Manipulators[J]. China Mechanical Engineering, 2003, 14(5): 424-426 |
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| Authors: | Zhang Chengxin |
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| Abstract: | An approach is presented for the constrained flexible-link manipulators. A forward dynamic model is derived according to the kinematic and dynamic constrains between the operated object and the environment. The forward dynamic model can be used to simulate the system. Assuming the desired trajectory of the contact point and the desired contact force to be as the dynamic model's boundary conditions, the inverse dynamic model has been developed. With the joint angles and torques calculated from the inverse dynamic model, the flexible-link manipulator can drive the object to follow its given trajectory and contact force accurately. The effectiveness of the new method is illustrated through the simulation of a 3R flexible-link manipulator. |
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| Keywords: | flexible manipulator dynamics modeling constrained motion trajectory tracking |
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