机器人完全动力学问题的回转键合图法  

Gyrobondgraph Method for the Complete Dynamic Problem of Robot

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]齐齐哈尔大学机械系,齐齐哈尔161006

出　　处：《机械科学与技术》2004年第7期852-856,共5页Mechanical Science and Technology for Aerospace Engineering

摘　　要：基于回转键合图理论 ,推导出便于计算机自动生成的机器人系统状态方程的统一表达式 ,克服了非线性几何约束及微分因果关系给建立机器人系统状态方程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。结合具体实例给出机器人机构系统键合图表达方法 。Based on gyrobondgraph theory, the unified formula of robot system state space equations is derived. The algebraic loop problem caused by nonlinear geometric constraints and differential causality in formulating the state space equations of robot systems can be solved by the procedure. This procedure is very suitable for the systems containing multi energy domains. Finally, a practical example illustrats, the validity of this procedure and the method for modeling robot mechanism systems by bond graph.

关 键 词：机器人 完全动力学 回转键合图法 

分 类 号：O313.7[理学—一般力学与力学基础]