摘要
以竖直平面内双连杆弹性机械臂为对象,考虑重力影响,采用相对坐标系法,利用圆向量函数,建立了Bernoull-Euler梁的离散化动力学模型,并且利用数值仿真讨论了其动力响应.
The rotary unit vector function was utilized in the relative reference frame. The dispersion dynamic model of the Bernoulli-Euler beam was established by studing of the vertical plane double-link flexible machine arm under consideration of its gravity. In addition, the dynamic responsibility was discussed by using of number emulation.
出处
《延边大学学报（自然科学版）》
CAS
2005年第3期204-207,共4页
Journal of Yanbian University（Natural Science Edition）
关键词
双连杆弹性机械臂
圆向量函数
仿真
double-link flexible machine arm
rotary unit vector function
emulation
