基于算子表达的柔性机器人动力学建模研究  

The Recursive Inverse Dynamic of Flexible Robots Use Operator Description

作　　者：郑铁军 

机构地区：[1]中钢设备有限公司,北京100080

出　　处：《装备制造技术》2016年第9期43-45,共3页Equipment Manufacturing Technology

摘　　要：柔性机器人反向动力学是已知机器人末端广义线速度、广义角速度、广义加速度以及每个铰链和操作臂的广义质量后,求解各铰链的广义力。以柔性机器人为研究对象,应用空间算子建立了一套新的关于链式开环柔性多体系统反向动力学的空间递推算法。这个算法同样适用于刚体机器人系统的反向动力学分析。经过对两连杆柔性机器人计算和仿真验证表明,与传统的分析链式柔性多体系统反向动力学的O(N3)阶算法相比,本算法是高效O(N)阶的,并具有可编程性高,应用广泛等特点。The inverse dynamics of the flexible robot is known as the generalized linear velocity,the generalized angular velocity,the generalized acceleration,and the generalized mass of each hinge and manipulator. In order to study the flexible robot,a new spatial recursive algorithm for the inverse dynamics of chain open loop flexible multibody system is established. This algorithm is also applicable to the inverse dynamic analysis of rigid body robot system. Through the calculation of two link flexible robot and the simulation shows that,with the inverse dynamics of flexible multibody systems analysis of chain of traditional O（N3） order algorithm, this algorithm is efficient O（N）order,and has the characteristics of high programmability,wide application etc..

关 键 词：柔性机器人 反向动力学 递推 算子表达 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]