| 六自由度并联式机器人拉格朗日动力方程 |
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| 引用本文： | 王洪波,黄真.六自由度并联式机器人拉格朗日动力方程[J].机器人,1990,12(1):23-26. |
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| 作者姓名： | 王洪波 黄真 |
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| 作者单位： | 燕山大学机械二系 秦皇岛
(王洪波)，燕山大学机械二系 秦皇岛(黄真) |
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| 摘 要： | 本文对六自由度并联机器人的动力学问题进行了研究.文中根据一二阶影响系数矩阵,导出了仅依赖于系统的质量分布和几何特性的广义惯性张量和广义惯性功率模型矩阵,建立了多回路系统的拉格朗日动力方程和运动控制方程.最后给出了实例计算.
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| 关 键 词： | 机器人 拉格朗日 动力方程 |
LANGRAGE'S DYNAMIC EQUATION OF SIX--DOF PARALLEL MULTI--LOOP ROBOT MANIPULATOR |
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| WANG Hongbo HUANG Zhen Yanshan University,Qinhuandao.LANGRAGE''''S DYNAMIC EQUATION OF SIX--DOF PARALLEL MULTI--LOOP ROBOT MANIPULATOR[J].Robot,1990,12(1):23-26. |
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| Authors: | WANG Hongbo HUANG Zhen Yanshan University Qinhuandao |
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| Abstract: | Dynamics of Six-DOF parallel robot manipulator is studied in this paper. A general inertia tensor and agenerai inertia power modeling matrix depending only on mass distribution and system geometry are derived fromthe first-order and the second-order influence coefficient matrices. The Lagrange's dynamic equation and control-ling equation of motion of the multi-loop complex system are established in simple explicit expressions. Finally, anumerical example is given. |
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| Keywords: | parallel multi-loop robot manipulator dynamic equation influence coefficient inertia tensor |
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