摘要
基于回转键合图理论 ,推导出便于计算机自动生成的完整形式的机器人机构驱动力矩及关节约束反力的统一计算公式 ,克服了非线性几何约束及微分因果关系给建立机器人机构驱动力矩及关节约束反力统一公式所带来的代数环问题。所述方法特别适合于多能域并存的系统。
Based on gyrobondgraph theory,the unified formula of driving moments and constraint forces was derived,which can be easily derived using a computer in a complete form. The algebraic loop problems brought up by differential causality and nonlinear geometric constraints in formulating the unified formula of driving moments and costraint forces can be solved by this procedure.This procedure is very suitable for the systems containing multi-energy domains.By a pratical example,the validity of this procedure and the modeling method of robot mechanisms by bond graphs are illustrated.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2004年第12期1051-1054,共4页
China Mechanical Engineering
基金
黑龙江省教育厅首批骨干教师资助项目
