带闭链的五自由度工业机器人动力学解析模型  

The Analytical Dynamic Model of a Five-DOF Industrial Manipulator Containing Closed-chain

作　　者：林光春[1] 熊先云[1] 徐礼钜[1] 

机构地区：[1]四川大学制造学院,四川610065

出　　处：《机械科学与技术》2002年第5期767-770,共4页Mechanical Science and Technology for Aerospace Engineering

摘　　要：提出了一种建立带闭链的工业机器人动力学解析模型的方法。设想将闭式链的某一非主动关节的运动副断开 ,其运动关系用约束方程来代替 ,形成带有附加约束的等效系统 ,然后基于 Kane动力学方程 ,导出了显式形式的动力学方程。并将部分变量处理为符号量 ,其余变量处理为数字量 ,从而获得了动力学解析模型中各模型矩阵元素的数字 -符号表达式 。A method for analytical dynamic modeling of industrial manipulator containing closed chain is proposed in this paper. It issupposed that a non driving joint of the closed chain was disassembled when motion relationship is substituted by constrained equations, and then an equivalent system with additional constraint can be obtained. Based on Kane dynamic equations, the dynamice quations of the manipulator in explicit form are derived. when some of the variables are symbolic variables, and others are numeric variables, the numeric symbolic expressions of the dynamic model matrices elements are obtained. Finally, a numerical example is given.

关 键 词：闭链 五自由度 工业机器人 动力学 解析模型 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]