含单闭链机器人的动力学研究  

Study on the Dynamics of A Robot Manipulator With A Closed-Chain Branch

作　　者：靳桂华 施旗[2] 姚俊杰 

机构地区：[1]北方工业大学工学部,北京石景山100041 [2]北京航空航天大学,北京海淀区100083

出　　处：《北方工业大学学报》1994年第1期58-65,共8页Journal of North China University of Technology

基　　金：国家自然科学基金

摘　　要：本文将闭链机构受力分析的示力副法推广应用到含单闭链机器人的动力学分析，建立了含单闭链机器人的动力学逆问题和建模计算公式计算时，将含单闭链机器人分成主开链和子开链，并对机器人所含闭链机构进行运动分析，由此得到联系主开链和子开链关节运动量的变换阵借鉴开链机器人的动力学公式对这两个开链进行计算．将所得的子开链的动力学计算结果，由得到的关节运动量变换阵进行适当变换，并与主开链的动力学计算结果相加就可得到含单闭链机器人的动力学计算结果与其它方法相比，此计算公式简明、完善且直观，易于推广应用．In this paper, the dynamics of a robot manipulator with a closed-chain branch is studied by using the method of showing reactions at one joint for the force analysis of the closed-chain branch. First, the robot manipulator with a closed-chain branch is divided into primary open-chain and subsidiary open-chain. The motion of the closedchain branch in the robot is analyzed, and the joint velocity and acceleralion transformations between primary open-chain and subsidiary open-chain can be obtained. Then the dynamics of each open-chain is studied according to the dynamic formulas for general open-chain robots. However,the dynamics of sudsidiary open-chain is to be transformed properly by applying the obtained joint velocity and acceleration transformations. Thus the dynamic formulas of the robot manipulator with a closed-chain branch can be obtained through adding the transformed dynamic formulas of subsidiary open-chain to the dynamic formulas of primary open-chain. In comparison with other approaches, the formulas derived in this paper are more concise, perfect and directly perceivable. Besides,these formulas are easier to effect wide application.

关 键 词：机器人 动力学 单闭链机器人 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]