机器人机构动力学正问题的回转键合图法  

Gyrobondgraph Method for the Forward Dynamic Problem of Robot Mechanisms

作　　者：王中双[1] 陆念力[1] 徐长顺[2] 

机构地区：[1]哈尔滨工业大学机电工程学院,哈尔滨150001 [2]齐齐哈尔大学机械工程系,齐齐哈尔161006

出　　处：《中国机械工程》2004年第12期1051-1054,共4页China Mechanical Engineering

基　　金：黑龙江省教育厅首批骨干教师资助项目

摘　　要：基于回转键合图理论 ,推导出便于计算机自动生成的完整形式的机器人机构驱动力矩及关节约束反力的统一计算公式 ,克服了非线性几何约束及微分因果关系给建立机器人机构驱动力矩及关节约束反力统一公式所带来的代数环问题。所述方法特别适合于多能域并存的系统。Based on gyrobondgraph theory,the unified formula of driving moments and constraint forces was derived,which can be easily derived using a computer in a complete form. The algebraic loop problems brought up by differential causality and nonlinear geometric constraints in formulating the unified formula of driving moments and costraint forces can be solved by this procedure.This procedure is very suitable for the systems containing multi-energy domains.By a pratical example,the validity of this procedure and the modeling method of robot mechanisms by bond graphs are illustrated.

关 键 词：机器人机构 动力学 正问题 回转键合图法 

分 类 号：O313.7[理学—一般力学与力学基础] TP24[理学—力学]