摘要
利用Lagrange方程建立了平面旋转的线粘弹性简单机械臂的动力学方程，分析粘弹性对机械臂爪端点振动的影响、弹性振动与刚性运动互相作用的情况。在建立方程时，考虑了离心效应，研究了离心效应的作用。
In this paper,the Lagrange's Equation is used to establish the dynamic equation of a linear viscoelastic simple manipulator rotating in a plane,the effect of vlscoelastic property on the vibration of manipulator's end and the interaction between elastic vibration and rigid motion are analysed. In the establishment of the equation,the centrifugal effect 15 consldered and its influ ence is also studied. The results obtained can provide some guidance for the vibration control and the imporovernent of emulation precision.
出处
《石家庄铁道学院学报》
1995年第1期29-33,共5页
Journal of Shijiazhuang Railway Institute
