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柔性杆柔性铰机器人动力学分析

章定国 周胜丰

章定国, 周胜丰. 柔性杆柔性铰机器人动力学分析[J]. 应用数学和力学, 2006, 27(5): 615-623.
引用本文: 章定国, 周胜丰. 柔性杆柔性铰机器人动力学分析[J]. 应用数学和力学, 2006, 27(5): 615-623.
ZHANG Ding-guo, ZHOU Sheng-feng. Dynamic Analysis of Flexible-Link and Flexible-Joint Robots[J]. Applied Mathematics and Mechanics, 2006, 27(5): 615-623.
Citation: ZHANG Ding-guo, ZHOU Sheng-feng. Dynamic Analysis of Flexible-Link and Flexible-Joint Robots[J]. Applied Mathematics and Mechanics, 2006, 27(5): 615-623.

柔性杆柔性铰机器人动力学分析

基金项目: 教育部留学回国人员科研启动基金
详细信息
    作者简介:

    章定国(1967- ),男,浙江嘉善人,教授,博士(联系人.Tel:+86-25-84315639;E-mail:zhangdg419@163.com).

  • 中图分类号: O313.7

Dynamic Analysis of Flexible-Link and Flexible-Joint Robots

  • 摘要: 研究由N柔性杆和N柔性铰组成的空间机器人的动力学问题.把柔性铰简化成一个线性扭转弹簧,采用假设模态法表示杆件的弹性变形,运用Kane方法对全柔机器人进行动力学建模,推导出完整的系统动力学方程组.通过一个数值仿真算例,验证所做工作的可行性,并分析了柔性效应对机器人动力学响应的影响.
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出版历程
  • 收稿日期:  2004-09-16
  • 修回日期:  2005-12-27
  • 刊出日期:  2006-05-15

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