摘要
将等效有限元方法应用到RRRRR的开式空间5自由度康复机械手的动力分析,建立了其基于等效有限元方法的空间动力学模型,与传统的经典的机器人动力分析方法相比,建模过程效率高、简单快捷,极其适合现代计算技术的发展.推导出了机械手的运动微分方程,并给出其降阶的龙格-库塔法解的形式.得出了机械臂的动力响应曲线,可为机械手的优化设计及控制提供理论依据.
The equivalent finite element method (EFEM) was applied to the dynamic analysis of the RRRRR 5-DOF (degrees of freedom) three-dimensional rehabilitative manipulator, the dynamic model of it was established based on the method of EFEM. The process of establishing dynamic model was normal, simple and direct, it has a higher efficiency than the traditional and classical method and was suitable to the modern calculation technology. The expression of the equation resolution about the deducing order Runge-Kutta method was derived. The dynamic response curve about the rehabilitative manipulator was obtained. It can offer reliance to the optimal design and control theoretically.
出处
《哈尔滨工业大学学报》
EI
CAS
CSCD
北大核心
2005年第6期744-747,共4页
Journal of Harbin Institute of Technology
基金
黑龙江省自然科学基金资助项目(F01-23)
哈尔滨工业大学跨学科交叉性研究基金资助项目(HIT.MD2000.17).
关键词
动力学分析
等效有限元方法
康复机械手
等效单元
等效系统
Control theory
Degrees of freedom (mechanics)
Dynamic response
Finite element method
Mathematical models
Optimization
Runge Kutta methods
Structural design
Three dimensional
