摘要
本文利用4×4的齐次变换矩阵和高斯最小拘束原理,对含有局部闭式链的关节式工业机器人的动力学问题进行了研究,探讨了一种将闭链打开,转化为若干个开链来解决含有局部闭式链机器人机构的动力学问题的方法.
In this paper,the dynamics problem of the industrial robot witha partially-closed kinematic chain is discussed by using the transformationmatrix(4×4)and Gauss' principle of minimal Compulsion.The originalmechanisnm of the closed chain is transformed into several open chains.Anexample of the five-degree-of-freedom industrial robot with parallal linkageis analysed.
出处
《上海交通大学学报》
EI
CAS
CSCD
北大核心
1990年第1期40-47,共8页
Journal of Shanghai Jiaotong University
关键词
机器人
开式链
动力学
闭式链
robot
open chain
closed chain
thansformed mechanism remainder mechanism
