摘要
研究由N柔性杆和N柔性铰组成的空间机器人的动力学问题.把柔性铰简化成一个线性扭转弹簧,采用假设模态法表示杆件的弹性变形,运用Kane方法对全柔机器人进行动力学建模,推导出完整的系统动力学方程组.通过一个数值仿真算例,验证所做工作的可行性,并分析了柔性效应对机器人动力学响应的影响.
The dynamic modeling and simulation of an N-flexible-link and N-flexible-joint robot was reported. Each flexible joint is modeled as a linearly elastic torsional spring and the approach of assumed modes was adopted to desribe the deformation of the flexible-link. The complete govexning equations of motion of the flexible-link-joint robots were derived via Kane＇ s method. An illustrative example is given to validate the algorithm presented and to show the effects of flexibility on the dynamics of robots.
出处
《应用数学和力学》
CSCD
北大核心
2006年第5期615-623,共9页
Applied Mathematics and Mechanics
基金
教育部留学回国人员科研启动基金
关键词
柔性机器人
动力学
数值模拟
建模
flexible robot
dynamics
numerical simulation
modeling
