| 含闭链机构机器人动力学探讨 |
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| 引用本文： | 孙树栋,朱剑英.含闭链机构机器人动力学探讨[J].南京航空航天大学学报,1990(1). |
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| 作者姓名： | 孙树栋 朱剑英 |
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| 作者单位： | 西北工业大学
(孙树栋)，南京航空学院(朱剑英) |
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| 摘 要： | 本文用Appell方程就含闭链机构机器人动力学研究作了新的探讨,给出了建立含闭链机构机器人动力学方程的一般方法。旨在把含闭链机构机器人分解成相应的开链机构进行研究,因而大大简化了推导过程。文中通过一个实际工业机器人动力学方程的推导,证实了该方法的可行性。
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| 关 键 词： | 机器人 空间机构 分析力学 机器人动力学 |
A New Approach to the Dynamics Study of Robots with Closed Loops in their Structure |
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| Sun Shudong Zhu Jianying.A New Approach to the Dynamics Study of Robots with Closed Loops in their Structure[J].Journal of Nanjing University of Aeronautics & Astronautics,1990(1). |
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| Authors: | Sun Shudong Zhu Jianying |
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| Institution: | Sun Shudong Zhu Jianying (Northwestern Polytechnical University) (Nanjing Aeronautical Institute) |
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| Abstract: | Appell's equation is used in this paper to study the dynamics of robots with closed loops in their structure. An efficient method to set up the dynamic model of these kinds of robots is presented. The main feature of the method is to divide the robot system into several tree structures, so that the calculation is much simplified. An industrial robot with two closed loops in its structure is used to demonstrate the method |
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| Keywords: | robots space mechanisms analytic mechanics robot dynamics |
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