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二、三轴运动模拟转台的动力学三轴转台作为三个自由度的、级联的迴转刚体组合体,其动力学问题可以应用已经发展了的一些原理和方法(诸如拉格朗日—尤拉方程、牛顿—尤拉方程和叠代的拉格朗日—尤拉方程以及通用的达朗贝原理等)加以解决。上述这些方法都已成功地用来描述多关节机器手的动力学。本文对三轴台动力学的研究旨在得到明确、具体的动力学解析表达式。比起通过数值计算进行分析的方法,解析表达不但以公式给出结果,而且可以给出物理意义和工程上意义的解释。一般说来,欲得到
Dynamics of Two and Three Axis Simulators The three-axis turntable, as a three-degree-of-freedom, cascaded, rotating rigid body assembly, can be applied to kinematics problems that have been developed using some principles and methods such as Lagrangian- Euler equations, Newton-Euler equations and iterative Lagrange-Euler equations, as well as the generalized Durham principle, etc.). These methods have been successfully used to describe the kinematics of multi-articulated robots. In this paper, the research on the dynamics of the triaxial platform aims to obtain a clear and specific dynamic analytical expression. Compared with the method of analyzing by numerical calculation, the analytical expression not only gives the result by the formula, but also can give a physical meaning and an engineering explanation. In general, want to get