【摘要】 本文提出了考虑机器人结构特点的刚体动力学分析方法——结构模块矩阵法。该方法公式简单,计算效率高,通用性强,力学意义明确。它不仅可用于机器人的设计计算,也可用于机器人的实时控制。利用该方法编制的通用分析程序使用十分方便,人工准备工作少,可用来解决目前所见的绝大多数开链机器人的刚体动力学分析问题。通过对速度及加速度递推公式的分析,对机器人的机构选型提出了建议。更多还原

【Abstract】 This paper presented the rigid-body dynamic analysis method of con- sidering structural characteristic of robot.That is,the matrix method of structural block.This method is simple in formula and effecient in com- putations.The mechanical meaning is clear and used in generally.it can be used not only in the calculations for robots designing and calculating but also in the“real-time”control of robots.The program is very convenient to the rigid-body dynamic analysis for existing robots with open-chain structures.Through analysis to velocity and acceleration recursion formula, some suggestions for the structure lectotype of robot were given.更多还原