在竖直平面内双连杆弹性机械臂的动力学  

Dynamics for double-link flexible machine arm in the vertical plane

作　　者：金在权[1] 

机构地区：[1]延边大学工学院机械工程系,吉林延吉133002

出　　处：《延边大学学报（自然科学版）》2005年第3期204-207,共4页Journal of Yanbian University（Natural Science Edition）

摘　　要：以竖直平面内双连杆弹性机械臂为对象,考虑重力影响,采用相对坐标系法,利用圆向量函数,建立了Bernoull-Euler梁的离散化动力学模型,并且利用数值仿真讨论了其动力响应.The rotary unit vector function was utilized in the relative reference frame. The dispersion dynamic model of the Bernoulli-Euler beam was established by studing of the vertical plane double-link flexible machine arm under consideration of its gravity. In addition, the dynamic responsibility was discussed by using of number emulation.

关 键 词：双连杆弹性机械臂 圆向量函数 仿真 

分 类 号：O326[理学—一般力学与力学基础]