TT-VGT机器人动力学解析模型  

Analytical Model Algorithm for Dynamics of TT VGT Manipulators

作　　者：李宏[1] 杨随先[1] 徐礼钜[1] 

机构地区：[1]四川联合大学

出　　处：《机械科学与技术》1997年第1期89-94,共6页Mechanical Science and Technology for Aerospace Engineering

基　　金：国家自然科学基金

摘　　要：针对多重四面体变几何桁架机器人，本文导出了它的基本公式，建立了动力学解析模型，导出了数字－符号表示的动力学模型矩阵，并给出了实例说明。In this paper,some fundamental formulae are derived for tetrahedron based variable geometry truss manipulator which is composed of a series of tetrahedrons stacked upon each other such that one link in each cell is made variable on length.Analytical model for dynamics of the manipulator are established ,and expressions in numeric symbolic form of model matrices are derived .An example is given for illustration.

关 键 词：数字-符号法 变几何桁架 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]