摘要
结合六重四面体变几何桁架机器人的特点 ,考虑刚性位移与弹性变形的耦合作用对机器人操作手末端位姿的影响 ,基于有限元分析方法 ,在运动学分析的基础上 ,提出了其运动学模型的线性化方法 ,导出了其运动条件方程、逆动力学显式方程 ,并给出了驱动力和弹性变形量求解的公式与详细迭代过程。利用本方法 ,可方便地建立弹性逆动力学分析的数学模型 ,迭代过程简明。
In this paper,an algorithm is proposed for solving the inverse elastic dynamic problem of 6 celled tetrahedron tetrahedron variable geometry truss manipulator (T T VGTM). According to the structural characteristics of the 6 celled T T VGTM, the T T VGTM is divided into several tetrahedral substructures. Based on the substructure, linear kinematic formulae and kinematic constraint equations are derived.The explicit model of inverse dynamics is presented, and the procedure of recursive algorithms for computing the driving forces and the elastic deformations is given in detail. The advantages of the algorithm are simple and clear and can be used for solving the inverse elastic dynamic problems of other types of VGTMs.
出处
《四川大学学报（工程科学版）》
EI
CAS
CSCD
2001年第4期94-97,共4页
Journal of Sichuan University (Engineering Science Edition)
基金
国家自然科学基金资助项目 (5 92 75 15 7)
关键词
变几何桁架机器人
弹性逆动力学分析
运动条件方程
逆动力学显式方程
数学模型
variable geometry truss
manipulator
inverse elastic dynamic analysis
kinematic constraint equation
explicit model of inverse dynamics
