| 柔性机械臂系统逆动力学及驱动规律的研究 |
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| 引用本文： | 于清,洪嘉振.柔性机械臂系统逆动力学及驱动规律的研究[J].应用力学学报,1999,16(4):98-102. |
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| 作者姓名： | 于清 洪嘉振 |
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| 作者单位： | 上海交通大学工程力学系!上海200030 |
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| 基金项目： | 国家自然基金，高等学校博士点科研专项基金 |
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| 摘 要： | 研究了柔性机械臂系统的逆动力学问题及其联接铰驱规律。在柔性多体系统动力学单向递推组集建模方法的基础上，建立了树形及含闭环的柔性多体系统正逆动力学问题同时计算的等价公式。通过一空间机械臂的数值仿真，讨论了构件的柔性效应对系统的驱动力（矩）及实际运动规律的影响。
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| 关 键 词： | 柔性多体系统 机械臂 逆动力学问题 驱动规律 |
Study on Inverse Dynamics and Driving Laws of Flexible Robotics |
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| Yu Qing,Hong Jiazhen.Study on Inverse Dynamics and Driving Laws of Flexible Robotics[J].Chinese Journal of Applied Mechanics,1999,16(4):98-102. |
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| Authors: | Yu Qing Hong Jiazhen |
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| Abstract: | This paper studies the inverse dynamics and driving laws of flexible robotics. The equivalent formulation of inverse dynamics is established for open and closed loop flexible multibody systems based on single recursive modeling method. A space robotics is simulated to exhibit the influence of flexibility to the driving torques and to its motion. |
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| Keywords: | flexible multibody systems robotics inverse dynamics driving laws |
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