| 关于带闭链工业机器人的动力学建模研究 |
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| 引用本文： | 刘朝晖,李立.关于带闭链工业机器人的动力学建模研究[J].西南交通大学学报,1994,29(2):119-124. |
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| 作者姓名： | 刘朝晖 李立 |
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| 作者单位： | 西南交通大学机械工程一系 |
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| 摘 要： | 本文在以影响系数矩阵为基础进行带闭链机器人的动力学方程推导时，采用了符号一数值方法。在计算机上获得一，二阶影响系数矩阵和动力学方程中各矩阵元素的最简解近表达式，解决了当分支的广义坐标数不等于６时出现的长方形（奇异）矩阵求逆的解析表达问题。在ＶＡＸ机上偏制调试出了该方法应的软件，并应用于一个带单闭链地的的孤焊机械手的动力学建模。
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| 关 键 词： | 工业机器人 动力学模型 闭环回路 |
On the Dynamic Modelling of Robotic Manipulators with Closed-Chain |
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| Liu Zhaohui,Li Li, Chen Yong.On the Dynamic Modelling of Robotic Manipulators with Closed-Chain[J].Journal of Southwest Jiaotong University,1994,29(2):119-124. |
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| Authors: | Liu Zhaohui Li Li Chen Yong |
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| Abstract: | Based on the influence coefficient matrices,a symbolic- numeric approach is used for the dynamic modelling of robetic manipulators with closed-chain, Analytical expressions of elements of matrices in the dynamic equation and first and secend order irifluence coefficient matrix are derived automatically on the computer with ninimization of polynomial matrix dimensions and operations. For determining the analytical expressions of inverse of rectangular(singular)matrices appearing in the dynamic model and influence coefficients when the number of generallzed coordinates of branch is less than six , pseudo inverse is introduced which solves the probem efficiently, An example for the dynamic modelling of an industrial manipulator with single closed chain is given as well. |
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| Keywords: | robotic dynamics dynamic modelling parallel manipulators symbolic-numeric approach |
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