关键词: 动力学, 空间机器人, 柔性系统

Abstract: Linecrizes the kinematics model of open chain configurations on the assumption of imaginary rigid body motion, decouple the rigid body motion and the elastic vibration. The kinematics equations of flexible n-link robots obtained by using virtual work principle. Baseal on which the three-stage algorithms of forward and inerse dynamic problems are proposed.

Key words: Dynamic, Flexible system, Spatial robot