重载下的柔性机械臂的动力学耦合特性  

DYNAMIC COUPLING CHARACTER OF FLEXIBLE MANIPULATOR UNDER LARGE PAYLOAD

作　　者：岳士岗[1] 余跃庆[1] 白师贤[1] 

机构地区：[1]北京工业大学基础科学部

出　　处：《机器人》1996年第4期224-227,共4页Robot

基　　金：北京市科委及国家教委基金

摘　　要：首先叙述基于有限元的具有柔性关节与柔性杆的机械臂动力学模型的建立与求解，然后对于机械臂柔性关节与柔性杆的耦合特性进行研究．结果表明，在重载的情况下。The dynamic model, which is established and solved based on the finite element method, is presented in the paper. Then the dynamic coupling character of the flexible joints and flexible links which exist in the manipulator is studied. The results show that the dynamic coupling effect of the flexible joints and links can not be neglected under large payload.

关 键 词：柔性机械臂 动力学 耦合特性 机器人 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]