基于改进Udwadia-Kalaba方程的双机械臂动力学建模与仿真  

Dynamics Modeling and Simulation of Dual-arm Robot based on the Improved Udwadia-Kalaba Equation

作　　者：刘佳 史源平[1] 孙宏强[1] 刘荣[2] Liu Jia;Shi Yuanping;Sun Hongqiang;Liu Rong(College of Mechanical and Electrical Engineering,Shijiazhuang University,Shijiazhuang 050035,China;Robotics Institute,Beihang University,Beijing 100083,China)

机构地区：[1]石家庄学院机电学院,河北石家庄050035 [2]北京航空航天大学机器人研究所,北京100083

出　　处：《机械传动》2020年第1期94-98,共5页Journal of Mechanical Transmission

基　　金：石家庄学院博士科研启动基金(18BS014)

摘　　要：Udwadia-Kalaba方程为多体系统的动力学建模提供了一种新的思路。以双机械臂协同搬运物体为研究对象,针对Udwadia-Kalaba方程建模过程中存在的获取解析形式的约束关系和数值解存在误差的问题,给出了一种具有广泛意义的约束关系,并对Udwadia-Kalaba方程进行了改进。仿真结果证明了提出方法的有效性。A new idea for dynamics modeling of multibody systems is provided by the Udwadia-Kalabaequation. The generalized constrained relationship is established to obtain the constraint relations in analyticalform. The improved Udwadia-Kalaba equation is proposed to eliminate the error which generates during themodeling process by Udwadia-Kalaba equation. The stimulation results show that the proposed methods can bemore effectively utilized in dynamics modeling of dual-arm robot.

关 键 词：Udwadia-Kalaba方程 约束关系 多体系统 动力学建模 双机械臂 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]