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本文基于Newton—Euler方程,根据Timoshcnko弹性理论提出了空间运动机器人运动弹性动力学(KED)建模的伽辽金变分法。该模型全面考虑了各杆件(不一定为细长杆)的所有弹性变形(拉压、剪切、弯曲、扭转)均布质量、集中质量及刚体运动与弹性振动间耦合作用的影响,更准确地描述了机器人弹性振动。
Based on the Newton-Euler equation, this paper presents a Galerkin variational method for modeling kinematic dynamics (KED) of space motion robots based on Timoshcnko’s elasticity theory. The model fully considers all the elastic deformation (tension, shear, bending, torsion) uniform mass, the concentrated mass and the coupling between rigid body motion and elastic vibration of each rod (not necessarily the slender rod) Accurately describe the robot’s elastic vibration.