多体机械手的一般动力学模型
Generalized Dynamic Model for Multibodies Manipulator
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摘要: 本文建立了多体机械手的一般动力学方程.设多体系统是由任意数目的刚体组成的树形拓扑结构,并认为铰是柱铰链,允许具有相对转动和滑动.考虑到实际问题中摩擦力的影响,采用Newton-Euler方法,建立了运动方程.进一步通过构造分配矩阵,将动力学方程分离,得到了一组实用的力方程和运动方程.Abstract: In this paper the general dynamical equations were given for multibodies manipulator. The system is a topologic tree structure consisting of arbitrary number of rigid bodies. The hinges allow the rotational and/or tranlalional motion. In consideration of influence of friction the dynamic equations are established by means of Newton-Euler's method. Further, the equations are separated by way of constructing the distribution matrices and a group of force and motion equations are obtained.
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Key words:
- multibodies problem /
- dynamic model /
- dynamics of robot
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[1] Kane,T.R.and D.A.Levinson,The use of Kane's dynamical equations in robotics,The International Journal of Roboties Research,2,3(1983),3-21. [2] Silver,W.M.,On the equivalence of Lagrangian and Newton-Euler dynamics for Manipulators,The International Journal of Roboties Research,1,2(1982),60-70. [3] 周起钊,树形多刚体系统的动力学普遍方程,力学学报,3(1973),267-277. [4] Schielen,W.,Generalized constraint forces in ordinary multibody systems,Preprint 14th Yugoslav Congress Rational Applied Mechanics,C3-16,Beograd(1978),301-308. [5] Wittenburg J.,Dynamics of Systems of Rigid Bodies,B.G.Teubner Stuttgart,(1977). -
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