摘要
用图论的观点和多刚体系统动力学中增广体概念,对多关节平面机械手的树形结构系统有向图进行研究,导出该机械手便于进行数值计算和程序设计以广义坐标表出的动力学方程。并对机械手各构件为杆状的情况,作了具体分析。
From the point of view of graph theory and the concept of augmented bodies in dynamics of systems of rigid bodies,the writer studied directed graph of multi-knuckle plane manipulator hand in tree shaped structure system.And the dynamical equations are expressed in terms of generalized coordinates so that they can be used for computing and programming of this manipulator hand.And an actual analysis of the bar shaped components of manipulator hand was made.
关键词
机械手
树形结构
动力学方程
manipulator hand
systems of rigid bodies
tree shaped structure
incidence matrix
augmented body
dynamical equation
