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多杆空间柔性机器人递推Lagrange动力学建模和仿真

章定国

章定国. 多杆空间柔性机器人递推Lagrange动力学建模和仿真[J]. 应用数学和力学, 2009, 30(10): 1202-1212. doi: 10.3879/j.issn.1000-0887.2009.10.008
引用本文: 章定国. 多杆空间柔性机器人递推Lagrange动力学建模和仿真[J]. 应用数学和力学, 2009, 30(10): 1202-1212. doi: 10.3879/j.issn.1000-0887.2009.10.008
ZHANG Ding-guo. Recursive Lagrangian Dynamic Modeling and Simulation of Multi-Link Spatial Flexible Manipulator Arms[J]. Applied Mathematics and Mechanics, 2009, 30(10): 1202-1212. doi: 10.3879/j.issn.1000-0887.2009.10.008
Citation: ZHANG Ding-guo. Recursive Lagrangian Dynamic Modeling and Simulation of Multi-Link Spatial Flexible Manipulator Arms[J]. Applied Mathematics and Mechanics, 2009, 30(10): 1202-1212. doi: 10.3879/j.issn.1000-0887.2009.10.008

多杆空间柔性机器人递推Lagrange动力学建模和仿真

doi: 10.3879/j.issn.1000-0887.2009.10.008
基金项目: 国家自然科学基金资助项目(10772085);江苏省自然科学基金资助项目(BK2007205);江苏省“青蓝工程”资助项目;南京理工大学青年学者基金(NJUST200504)的资助
详细信息
    作者简介:

    章定国(1967- ),男,浙江嘉善人,教授,博士,博士生导师(Tel:+86-25-84315639;E-mail:zhangdg419@mail.njust.edu.cn;zhangdg419@163.com).

  • 中图分类号: O313.7

Recursive Lagrangian Dynamic Modeling and Simulation of Multi-Link Spatial Flexible Manipulator Arms

  • 摘要: 研究了多杆空间柔性机器人的动力学问题.运用Lagrange方法,结合齐次变换矩阵,推导得到了多杆空间柔性机器人动力学方程,在推导过程中采用了运动学递推策略以提高计算效率.建模时除考虑柔性构件的横向弯曲变形外,还计及了构件的扭转变形.基于上述理论研制了多杆空间柔性机器人动力学仿真软件,并对一空间柔性机器人进行了动力学仿真计算,验证了理论和软件的先进性能
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出版历程
  • 收稿日期:  2008-08-15
  • 修回日期:  2009-08-16
  • 刊出日期:  2009-10-15

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