• CN:11-2187/TH
  • ISSN:0577-6686

›› 1994, Vol. 30 ›› Issue (3): 77-84.

• 论文 • 上一篇    下一篇

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并联型机器人动力学建模的符号-数字方法

李立;陈永   

  1. 西南交通大学
  • 发布日期:1994-05-01

SYMBOLIC-NUMERICAL APPROACH FOR THE DYNAMIC MODELLING OF PARALLEL MANIPULATORS

Li Li;Chen Yong   

  1. Southwest Jiaotong University
  • Published:1994-05-01

摘要: 提出并联型机械手动力学建模的符号-数字方法,通过扩充多项式结构矩阵的符号代数运算法则,以及采用改进的多项式结构矩阵优化算法,在计算机上自动生成动力学方程各矩阵元素的浮点乘、加次数量少的解析表达式。

关键词: 动力学, 符号-数字方法, 机器人

Abstract: A symbolic-numerical approach for the dynamic modelling of parallel manipulator is proposed. By extending the symboic algebraic operation rules of the structural matrices and using improved algorithm for the optimal operation of structural matrices, matrix elements in dynamic equations are generated automatically by the computer with the minimization of number of floating-point multiplications/additions.

Key words: Dynamic modelling, Parallel manipulator, Symbolic-numerical approach