【摘要】 本文从柔性体的真-伪混合坐标形式的拉格朗日方程出发,导出了空间双柔性连杆机械臂系统的真-伪混合坐标形式的动力学方程.由于采用伪坐标和矩阵运算,避免了繁冗的对方位参数的求导过程,使方程结构紧凑,便于建立递推形式,并且在选择不同参数描述整体刚性运动情况下,方程形式保持不变,因而具有一般性.更多还原

【Abstract】 Equations of motion for two spatial flexible links robot arm system in terms of real-quasi-coordinates,which deriving from Lagrange equations of the flexible bodies in terms of quasi-coordinates,are presented.By using of the quasi-coordinates and matrix operations,the lengtly and tedious process for derivation withrespect to the direction parameters are avoided,the composition of equations are compacted and it will causethe recursive formulation conveniently.Because the forms of the motion equations do not change during thedescription of rigid motion in various parameters,these equations of motion are of generality.更多还原