关键词: 弹性动力学, 复合材料, 机器人, 数学模型

Abstract: 　　The elastodynamics model of the robot fabricated from the composite material is set up by the Lagrange's equations. The robot arm is treated as the laminated beam. In the calculation the spatial beam elements are seen as jumped mass and distriputed stiffness. The negligence of the rotational kinetic energy makes it possible to eliminate the link rotational coordinates and the method of mode synthesis is used for further reduction of the link coordinates, thus the calculation efficiency is raised extremely. The robot elastodynamic model is proved to be correct by the theoretical calculation and the experimental results for a robot with an arm fabricated from the graphite fibre-reinforced aluminum composite materials.

Key words: Composite materials, Elastodynamics, Mathematical model, Robots