摘要
采用割线坐标系对机械臂的运动进行了描述 ,并分快变和慢变两方面进行逆动力学问题的分析与求解 .在对快变部分逆动力学性质的分析中发现 ,快变部分精确的逆动力学解是发散的 .在进行柔性机械臂逆动力学求解时 ,应在慢变的意义上进行 .文中给出了一种去掉系统快变部分的简单方法 ,并进行了逆动力学求解 .数值仿真结果表明 。
The paper concentrates on the analysis and solution for inverse problems of flexible arms. A secant coordinate system was introduced to describe the location of the two link arm. The fast (vibration) part and the slow part were analyzed for the inverse problems. The solutions for the fast part are found emanative through the analysis. So, the solution for the flexible arms should be carried out when only the slow part is included. A simple method is given to get rid of the fast part and the solutions for the inverse problems are got. The numerical results show that this method is correct.
出处
《上海交通大学学报》
EI
CAS
CSCD
北大核心
2002年第3期416-419,共4页
Journal of Shanghai Jiaotong University
关键词
柔性机械臂
逆动力学
动力学
振动
大范围运动
flexible arm
dynamic
inverse dynamic
vibration
movement with large range
