摘要
本文利用闭链刚性负载内部运动参数之间的微分关系 ,在单柔性机器人有限元动力学模型基础上 ,建立了系统的运动学和动力学协调约束条件 ,首次导出了基于负载运动任务参数的柔性机器人协调操作闭链刚性负载的动力学方程 ,并给出了两
On the basis of the dynamic equation of single flexible robot, the kinematic and dynamic coordinated constraints are established for the cooperation system, using the linearized differential relationship in a closed-loop linkage. The general dynamic equations of flexible-manipulators cooperating rigid closed-loop linkage are then developed, for the first time, based on the standard kinematic parameters of the payload task. A simulation of two planar 3R flexible robots manipulating a four-bar linkage is illustrated successfully.
出处
《机器人》
EI
CSCD
北大核心
2001年第1期6-10,共5页
Robot
基金
国家自然科学基金资助项目! (5 9975 0 0 1)
