带闭链机器人动力学建模的符号－数值技术  

Symbolic-Numerical Technique for the Dynamic Modelling of Robotic Manipulators with Closed Chain

作　　者：陈永[1] 李立[1] 刘朝晖[1] 

机构地区：[1]西南交通大学

出　　处：《高技术通讯》1994年第5期1-5,共5页Chinese High Technology Letters

基　　金：国家自然科学基金

摘　　要：对带闭链的（并联型）机器人的动力学建模采用了符号－数值方法，在计算机上获得了一、二阶影响系数矩阵和动力学方程中各矩阵元素的最简解析表达式，解决了当分支的广义坐标数不等于６时出现的长方形（奇异）矩阵求逆的解析表达问题。此外，还将键图法与符号－数值技术结合用于机器人动力学的建模及仿真。Symbolic-numerical method is used in the dynamic modelling of robotic manipulators with closedchain. Analytical expressions of elements of matrices in the dynamic equation and first and second orderinfluence coefficient matrices are derived atuomatically on the computcr with minimization of polynomialmatrix dimensions and operations.For determining the analytical expressions of inverse of the rectangular(singular) matrices appearing in the dynamic model and infl uence coefficient matrices,psedo in verse isintroduced ,which solves the problem e fficiently.In addition,bondgraphys method combined withsymbolic-numerical technique is also appiied to the dynamic modelling and simulation of robots.

关 键 词：机器人 动力学 建模 符号-数值法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]