| 柔性杆柔性铰机器人动力学分析 |
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| 引用本文： | 章定国,周胜丰. 柔性杆柔性铰机器人动力学分析[J]. 应用数学和力学, 2006, 27(5): 615-623 |
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| 作者姓名： | 章定国 周胜丰 |
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| 作者单位： | 南京理工大学 理学院,南京 210094 |
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| 基金项目： | 国家留学回国人员科研项目 |
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| 摘 要： | 研究由N柔性杆和N柔性铰组成的空间机器人的动力学问题．把柔性铰简化成一个线性扭转弹簧，采用假设模态法表示杆件的弹性变形，运用Kane方法对全柔机器人进行动力学建模，推导出完整的系统动力学方程组．通过一个数值仿真算例，验证所做工作的可行性，并分析了柔性效应对机器人动力学响应的影响．
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| 关 键 词： | 柔性机器人 动力学 数值模拟 建模 |
| 文章编号： | 1000-0887（2006）05-0615-09 |
| 收稿时间： | 2004-09-16 |
| 修稿时间： | 2005-12-27 |
Dynamic Analysis of Flexible-Link and Flexible-Joint Robots |
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| ZHANG Ding-guo,ZHOU Sheng-feng. Dynamic Analysis of Flexible-Link and Flexible-Joint Robots[J]. Applied Mathematics and Mechanics, 2006, 27(5): 615-623 |
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| Authors: | ZHANG Ding-guo ZHOU Sheng-feng |
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| Affiliation: | School of Sciences, Nanjing University of Science and Technology, Nanjing 210094, P. P. China |
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| Abstract: | The dynamic modeling and simulation of an N-flexible-link and N-flexible-joint robot was reported.Each flexible joint is modeled as a linearly elastic torsional spring and the approach of assumed modes was adopted to describe the deformation of the flexible-link.The complete governing equations of motion of the flexible-link-joint robots were derived via Kane's method.An illustrative example is given to validate the algorithm presented and to show the effects of flexibility on the dynamics of robots. |
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| Keywords: | flexible robot dynamics numerical simulation modeling |
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