机器人手臂弹性动力学分析的高效算法

本文提出一种用于机器人手臂弹性动力学分析的新方法,该方法采用了动力学方程缩减技术,使计算时间大为减少。在此基础上针对关节型机器人结构特点,提出了考虑手臂关节之间的弹性连接的数学模型,使计算精度得到提高,最后给出了一个实例。

This paper presents a method for elasto-dynamic analysis of joint robot manipu-lator with complex shaped flexible links,The component mode synthesis method(CMS)is applied to the elasto-dynamic analysis of joint robot manipulators and the conne-cting stiffness of joints between links is considered.The method is used to solve aproblem as an example.