多杆空间柔性机器人递推Lagrange动力学建模和仿真

章定国

doi:10.3879/j.issn.1000-0887.2009.10.008

多杆空间柔性机器人递推Lagrange动力学建模和仿真

doi: 10.3879/j.issn.1000-0887.2009.10.008

章定国

南京理工大学理学院,南京210094

基金项目: 国家自然科学基金资助项目(10772085);江苏省自然科学基金资助项目(BK2007205);江苏省“青蓝工程”资助项目;南京理工大学青年学者基金(NJUST200504)的资助

详细信息

作者简介:
章定国(1967- ),男,浙江嘉善人,教授,博士,博士生导师(Tel:+86-25-84315639;E-mail:zhangdg419@mail.njust.edu.cn;zhangdg419@163.com).

中图分类号: O313.7
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- 文章访问数: 1825
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- PDF下载量: 2279
- 被引次数: 0
出版历程
- 收稿日期: 2008-08-15
- 修回日期: 2009-08-16
- 刊出日期: 2009-10-15

Recursive Lagrangian Dynamic Modeling and Simulation of Multi-Link Spatial Flexible Manipulator Arms

ZHANG Ding-guo

School of Sciences, Nanjing University of Science and Technology, Nanjing 210094, P. R. China

摘要

摘要: 研究了多杆空间柔性机器人的动力学问题．运用Lagrange方法，结合齐次变换矩阵，推导得到了多杆空间柔性机器人动力学方程，在推导过程中采用了运动学递推策略以提高计算效率．建模时除考虑柔性构件的横向弯曲变形外，还计及了构件的扭转变形．基于上述理论研制了多杆空间柔性机器人动力学仿真软件，并对一空间柔性机器人进行了动力学仿真计算，验证了理论和软件的先进性能
- 柔性机器人 /
- 动力学 /
- 数值模拟 /
- 建模
Abstract: The dynamics for multi-link spatial flexible manipulatorarm sconsisting of nlinks andnrotary joints is investigated Kinematics of both the rotaryjoint motion and the link deformation were described by 4×4 homogenous transformation matrices, and the Lagrangian equations were used to derive the governing equations of motion of the system. In the modeling the recursive strategy for kinematics was adopted to improve the computational efficiency. Both the bending and torsional flexibility of the link were taken in to account. Based on the presented method a general-purpose soft ware package for dynamic smiulation was developed. To validate the algorithm presented, the dynamic simulation of a spatial flexible manipulatorarm was given as anexample.
- flexible manipulatorarm /
- dynamics /
- numericals miulation /
- modeling

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参考文献(20)

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多杆空间柔性机器人递推Lagrange动力学建模和仿真

doi: 10.3879/j.issn.1000-0887.2009.10.008

作者简介:
章定国(1967- ),男,浙江嘉善人,教授,博士,博士生导师(Tel:+86-25-84315639;E-mail:zhangdg419@mail.njust.edu.cn;zhangdg419@163.com).

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Recursive Lagrangian Dynamic Modeling and Simulation of Multi-Link Spatial Flexible Manipulator Arms

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多杆空间柔性机器人递推Lagrange动力学建模和仿真

doi: 10.3879/j.issn.1000-0887.2009.10.008

作者简介: 章定国(1967- ),男,浙江嘉善人,教授,博士,博士生导师(Tel:+86-25-84315639;E-mail:zhangdg419@mail.njust.edu.cn;zhangdg419@163.com).

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Recursive Lagrangian Dynamic Modeling and Simulation of Multi-Link Spatial Flexible Manipulator Arms

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出版历程

目录

作者简介:
章定国(1967- ),男,浙江嘉善人,教授,博士,博士生导师(Tel:+86-25-84315639;E-mail:zhangdg419@mail.njust.edu.cn;zhangdg419@163.com).