摘要
介绍机器人机构动力学正问题的键合图法，推导出便于计算机自动生成的完整形式的机器人机构驱动力知及关节约束反力的统一计算公式。结合实例给出机器人机构的键合图表示方法。将关节约束反力视为未知势源加在机器人机构键合图模型相应的0—结处，克服微分因果关系给建立机器人机构驱动力知及关节约束反力统一公式所带来的极大的代数困难。通过实例表明本方法的有效性。
The bond graph method for the forward dynamic problem of robot mechanism is introduced in detail. The unified formula of driving moments and constraint forces which can be easily derived on a computer in a complete form is given. The modelling procedure of robot mechanism by bond graphs is provided by practical.example. To overcome the great algebraic difficulty brought by differential causality in formulating the unified formula of driving moments and constraint forces,the constraint forces at joint can be considered as unknown effort source and added to the corresponding O-junctions in the system bond graph model. The validity of this procedure is illustrated by the practical example.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
1998年第7期12-15,共4页
China Mechanical Engineering
关键词
机器人机构
动力学
键合图
驱动力矩
robot mechanism forward dynamic problem bond graph driving moment constraint force
