| 一种机器人动力学的旋量方程 |
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| 引用本文： | 金万敏,杜洪流.一种机器人动力学的旋量方程[J].机器人,1988(5). |
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| 作者姓名： | 金万敏 杜洪流 |
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| 作者单位： | 东南大学二系
(金万敏)，南京航空学院(杜洪流) |
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| 摘 要： | 本文从旋量入手,详细深入地论证和推导了螺旋变换,逆变换及其微分,并结合牛顿-欧拉方法给出了一种用于机器人动力学分析计算的旋量方程。全部推导过程十分简洁,思路独特,得到的机器人动力学模型也非常简洁,而且便于数字计算。文中理论同时也为其它空间机构的运动和动力分析提供了一条新路子,文章最后给出的例子证实了文中理论和数学推导的正确性.
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| 关 键 词： | 机器人动力学 螺旋变换 旋量 |
A SET OF MOTOR EQUATIONS OF ROBOT DYNAMICS |
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| JIN Wanmin.A SET OF MOTOR EQUATIONS OF ROBOT DYNAMICS[J].Robot,1988(5). |
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| Authors: | JIN Wanmin |
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| Affiliation: | JIN Wanmin(2nd Dept.Dongnan Univ.)DU Hongliu(Nanjing Aeronautical Institute) |
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| Abstract: | In this paper,started from motor,the screw transformations their inverses anddifferetial relations are discussed in detail,Based on Newton-Euler equations,a set ofmotor equations useful in robot dynamics analysis and calculatiion is presented.The derivation is sim-ple,and the presented robot dynamic model is concise and can be easily programmedin computation.The theory in the paper reveals a new way in dynamic and kinematicstudy of other spatial mechanisms.Lastly the correctness of the theory and mathema-tic derivation has been confirmed by an example. |
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| Keywords: | Robot dynamics screw tranfsormation motor |
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