| 平面型机器人操作手弹性动力学分析 |
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| 引用本文： | 凌云,金万敏.平面型机器人操作手弹性动力学分析[J].东南大学学报(自然科学版),1989,19(3):109-113. |
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| 作者姓名： | 凌云 金万敏 |
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| 作者单位： | 东南大学机械工程系，东南大学机械工程系 |
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| 摘 要： |
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| 关 键 词： | 机器人 操作手 弹性动力学 |
Elastic Dynamic Analysis for Planar Robotic Manipulators |
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| Ling Yun Jin Wanmin.Elastic Dynamic Analysis for Planar Robotic Manipulators[J].Journal of Southeast University(Natural Science Edition),1989,19(3):109-113. |
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| Authors: | Ling Yun Jin Wanmin |
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| Institution: | Department of Mechanical Engineering |
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| Abstract: | This paper presents a modelling method of the elasto-dynamic analysis for planar robotic manipulators.The motion equations of each link of manipu- lators are established by using finite elment method of lumped parameters, and the slope deflections are eliminated from the equations,which greatly reduces the dimensions of the equations.These equations are then assembled together to form motion equation of manipulator system and central finite diffe- rence method is used to solve the equation.The results of the elast-odynamic analysis of a two-link planar robotic manipulator are given. |
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| Keywords: | robots manipulators elasto-dynamics modelling finite element method |
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