摘要
把弹性动力学有限元方法中的分布参数法与集中参数法统一起来,推导出了机器人操作手弹性动力学分析一般方程,并对方程中各项进行了讨论.在集中参数的情况下,直接给出了杆的质量矩阵、陀螺阻尼矩阵及动态刚度矩阵等的表达式.除杆件的弹性外,方程中还包含了关节弹性的影响.文末给出了一空间型机器人操作手的计算实例.
This paper presents a general model for the elastodynamic analysis of robotic manipulators,which unifies the distributed-parameter-FEM and lumped-parameter-FEM.The equation derived includes the effects of the fle- xibility of links and joints,and the terms of the equation are discussed and directly given out when lumped-parameter approch is adopted.The general model is programmed on microcomputers,and applied to an industrial robotic manipulator.
出处
《东南大学学报（自然科学版）》
EI
CAS
CSCD
1990年第4期89-96,共8页
Journal of Southeast University：Natural Science Edition
关键词
机器人
操作手
弹性动力学
有限元
manipulator
finite element method
elastodynamics
