论文部分内容阅读
利用一种新方法研究自由浮动空间机械臂动力学问题．这种方法基于一种称为“自然坐标”的新坐标体系．导出用自然坐标表示的无力矩状态下空间机械臂初积分形式动力学方程．根据臂端设计轨迹，对空间机械臂进行逆动力学仿真计算，结果表明该方法是一种简便、高效的可行方法．
A New Method to Study the Dynamics of Free Floating Space Manipulator. This method is based on a new coordinate system called “natural coordinates.” Derivation of Initial Integral Form Dynamics Equation for Moment of Momentless Force Represented by Natural Coordinates. According to the design trajectory of the arm end, the inverse kinematics simulation of the space manipulator is carried out. The results show that this method is a simple and efficient method.