变运动学模型下动力学模型变换定理及其在多自由度关节并联机构中的应用  

Kinetic Model Transformation Theorem in the Change Kinematics Model and Its Application in the Multifreedom Joint Parallel Mechanism

作　　者：吴伟国[1] 邓喜君[1] 安辉[1] 蔡鹤皋[1] 

机构地区：[1]哈尔滨工业大学机械设计教研室

出　　处：《哈尔滨工业大学学报》1996年第3期113-118,共6页Journal of Harbin Institute of Technology

摘　　要：本文基于拉格朗日动力学方程推导并提出了变运动学模型下动力学模型变换定理．运用该定理建立复杂机构系统动力学模型可以得到结构良好的动力学方程，该定理也正是作者在研究复杂多自由度关节并联机构动力学建模问题中得出的一般性定理．最后运用该定理讨论了Ｐｉｔｃｈ－Ｙａｗ－Ｒｏｌｌ全方位关节机构的动力学建模问题．The kinetic model transformation theorem in the change kinematics model is put forward and deduced based on the Lagrange's kinetic equation. The well-structured kinetic equation will be gained by applying the theorem to establish the complicated mechanism system kinetic model. The theorem is just the general theorem obtained through studying complicated multifreedom parallel mechanism kinetics established model equation by the authors. In the end the kinetics established model question of Pitch-Yaw-Roll all placement joint mechanism is discussed by applying the theorem.

关 键 词：变运动学模型 动力学模型 机器人 关节 变换定理 

分 类 号：TH113[机械工程—机械设计及理论] TP242[自动化与计算机技术—检测技术与自动化装置]