摘要
用系统假想刚体运动对开链机构进行运动学模型线性化,使刚体运动和弹性振动之间解耦,采用虚功原理导出了n连杆空间运动柔性机器人的运动方程式。在此基础上建立了正、逆动力学问题求解的三段方法。
Linecrizes the kineinatics model of open chain configurations on the assuniPtion of imaeginary rigid body motion, decouple the rigid body inotion and the elasticvibration. the kinematics equations of flexible nlink robots obtained by using virtualwork principle-Baseal on which the threeslage algotithms of forward and inerse dynaniic Probleins are proposed.
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
1996年第4期29-36,共8页
Journal of Mechanical Engineering