“机电相似”在机器人动力学分析中的应用  

Application Research of Similarity of Mechanics to Electricity Theory in Robotic Dynamics Analysis

作　　者：王丽[1] 周欣荣[1] 王金刚[1] 

机构地区：[1]哈尔滨理工大学电气与电子工程学院,黑龙江哈尔滨150040

出　　处：《哈尔滨理工大学学报》2001年第1期9-12,16,共5页Journal of Harbin University of Science and Technology

基　　金：加拿大国际发展署"企业与高校"国际合作项目!(098/S47074-112)

摘　　要：为解决机器人动力学分析及仿真问题，以“机电相似”为基础，将机器人动力学模型做成网络形式，把机器人系统转化成电路网络系统进行研究，应用龙格－库塔方法对二连杆机械手进行动力学分析．通过模拟实践运行，该方法使计算过程简化，是用电路方法解决机器人系统动力学问题的新方法，This paper is written to solve the problem of the analysis and simulation of robotic dynamics. Based on the similarity of mechanics to electricity theory, the robotic dynamic model is built into electric network model. The robotic system is changed into electrical network system. A robot with two linkages is analyzed with Runge-Kutta method. It provs that the calculating process is simplified obviously in simulation operation. The method mentioned in the paper is new to solve robotic dynamic problems with electrical circuit theory.

关 键 词：机电相似 机器人 动力学 电路网络 龙格-库塔方法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]