挠性机器人逆动力学显式模型  

EXPLICIT EQUATION MODEL OF INVERSE DYNAMICS FOR FLEXIBLE ROBOTS

作　　者：郭吉丰[1] 许大中[1] 李培玉[1] 童忠钫[1] 

机构地区：[1]浙江大学

出　　处：《机械工程学报》1994年第6期86-92,共7页Journal of Mechanical Engineering

摘　　要：提出了挠性机器人逆动力学问题的一般模型，并通过对其实施线性化，得到了线性解耦的由运动条件方程和动力条件方程联立的逆动力学基本方程。同时，利用逆动力学基本方程的特点给出了逆问题的显式模型，并将该法用于平面ｎ杆弹性手臂建模。最后就三连杆弹性手臂进行了仿真，验证了本方法的有效性。A general model of inverse dynamic problems for flexible robot arms, is presented for the first time. Linear decoupled inverse dynamic equation combined with motion condition equations and dynamic condition equations are obtained through linearization of the model and then, by taking advantage of the characteristics of motion condition equations, the explicit equation model for elastic robot arms with planar n-links is got. Finally, the capabilities of this method is verified through simulation analysis of three-link elastic arms.

关 键 词：机器人 挠性传动 逆动力学 仿真 显式模型 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]