可变结构空间桁架机械臂的动力学建模

可变结构空间桁架机械臂由于具有高承载比和工作空间大等优点，有可能成为下一代空间机械臂的替代形式．本文对可变结构空间桁架机械臂的动力学问题进行建模研究，首先简要介绍了桁架机械臂系统的结构形式，然后采用笛卡尔坐标和变分原理建立系统的动力学模型，其中杆件的转动采用卡尔丹角进行描述，最后通过与ADAMS软件的计算结果对比验证本文所建模型的正确性．

Dynamics Modeling of Variable Structure Space Truss Manipulator

Variable structure space truss manipulator (VSSTM) has the characteristics of high bearing ratio and large working space, which makes it the potential form for the next generation of space manipulator. This paper studies dynamics modeling of the VSSTM. Firstly, the structure of VSSTM is briefly introduced. Then, dynamics model of the VSSTM system is established using the Cartesian coordinates and Jordan variational principle, in which Cardan angle is used to describe the rotation of the bar. Finally, the dynamic model is validated by the comparison with the numerical simulation results using ADAMS software.