• CN:11-2187/TH
  • ISSN:0577-6686

›› 1994, Vol. 30 ›› Issue (5): 8-15.

• 论文 • 上一篇    下一篇

机器人动力学集总计算结构的建模公式

施旗;张启先   

  1. 北京航空航天大学
  • 发布日期:1994-09-01

CENTRALLY COMPUTATIONAL FORMULA FOR DYNAMIC MODELLING OF ROBOT MANIPULATORS

Shi Qi;Zhang Qixian   

  1. Beijing University of Aeronautics and Astronautics
  • Published:1994-09-01

摘要: 给出了一种集总计算结构的动力学建模公式。该公式采用广义杆质量特征量来集总算出各有关杆对方程系数的影响,广义杆质量特征量可由末杆向基座依次递推算得且具有明确的力学意义。与文献中可见的其他建模公式相比,该公式不仅运算量为最少,而且结构简明,很好地表现出了各系数与杆件质量特征量和运动结构特征量的关系,是最有效的建模计算公式之一。

关键词: 动力学, 机器人, 建模

Abstract: This paper presents the derivation of a centrally computational formula for robot dynamic equation. Using the quantities describing the mass feature of generalized-links, this formula calculates centrally the effects of concerned links on the coefficients of dynamic equation. The mass feature quantities of generalized-links, which have explicit mechanical meanings, can be calculated recursively from the end-effector to the base of the robot. Compared with other modelling formulas cited in references, this formula requires the minimum amount of computation and is much more concise in structure. The relationships between the coefficients of dynamic equation and the quantities describing the mass and geometry feature of robot links are clearly demonstrated. So the derived formula for robot dynamic equation is more efficient in modelling computation than other ones.

Key words: Dynamics, Modelling, Robot