柔性机器人操作臂的动力学建模  

Dynamic Model of a Flexible Robotic Manipulator

作　　者：陆金伟[1,2] 除卫良 达庆利[1,2] 

机构地区：[1]东南大学机械工程系 [2]东南大学系统工程研究所

出　　处：《东南大学学报（自然科学版）》1997年第6期12-18,共7页Journal of Southeast University：Natural Science Edition

基　　金：国家自然科学基金;霍英东青年教师基金

摘　　要：对于有两个柔性杆的操作臂，用基于空间齐次变换和有限元的方法，推演出拉氏动力学闭式显方程．在推演中，提出一些技巧以改变某些表达式的形式，进而将操作臂的动能表示成类似于刚性臂的动能形式，这样使后续推演可借用关于刚性臂的推演技巧和结果．最后以两均质刚杆操作臂为例，说明了所推得的方程的使用与正确性．The explicit, closedform dynamic model of flexible two-link robotic manipulators is developed based on homogeneous transformation matrices, finite element model and the Lagrangian formulation of dynamics. Some techniques are proposed to reform some expressions, and thus the kinetic energy of the flexible manipulator is expressed as a form similar to one of a rigid manipulator. As a result, subsequent operations for the derivation are treated in the way used for a rigid manipulator. For demonstration of application of the developed dynamic model, the dynamic model of a rigid twolink manipulator is built.

关 键 词：柔性操作臂 动力学建模 齐次变换 柔性机器人 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]