The relationship between the stability and the configuration of the driving joint was studied as a measure to improve the stability of robot.The Lagrange dynamic equation of the robot was established.According to the ...The relationship between the stability and the configuration of the driving joint was studied as a measure to improve the stability of robot.The Lagrange dynamic equation of the robot was established.According to the principle of virtual work,the least squares solution of each joint torque was obtained.The relationship between the stability of the robot and the configuration of the driving joint is obtained by the sum of the norms of the joint torque.Finally,numerical simulations verify the correctness of the theory.展开更多
With the use of mechanical system dynamics simulation analysis software ADAMS,the virtual prototype model of Closed Five-bow-shaped-bar Linkage was established.The dynamic of the mechanism was analyzed,and providing t...With the use of mechanical system dynamics simulation analysis software ADAMS,the virtual prototype model of Closed Five-bow-shaped-bar Linkage was established.The dynamic of the mechanism was analyzed,and providing the theoretical basis for selection of parameter of electric machine of driving joint and accurate control of dynamics.展开更多
文摘The relationship between the stability and the configuration of the driving joint was studied as a measure to improve the stability of robot.The Lagrange dynamic equation of the robot was established.According to the principle of virtual work,the least squares solution of each joint torque was obtained.The relationship between the stability of the robot and the configuration of the driving joint is obtained by the sum of the norms of the joint torque.Finally,numerical simulations verify the correctness of the theory.
文摘With the use of mechanical system dynamics simulation analysis software ADAMS,the virtual prototype model of Closed Five-bow-shaped-bar Linkage was established.The dynamic of the mechanism was analyzed,and providing the theoretical basis for selection of parameter of electric machine of driving joint and accurate control of dynamics.
