【摘要】 将固定底座的串联机器人的递推牛顿——欧拉动力学算法推广到运动底座 ,给出了不考虑连杆重力和考虑连杆重力两种情况下的递推牛顿——欧拉动力学算法 .然后用数学方法证明了后一种情况下的递推牛顿——欧拉动力学算法是由前一种情况下的递推牛顿——欧拉动力学算法通过改动初始值得到的 .这种通过改动初始值而得到的算法具有较好的计算效率 ,将此算法应用到由清华大学设计的一种新型混联机床的动力学分析上 .更多还原

【Abstract】 An iterative Newton Euler dynamics algorithm about a serial manipulator was extended from fixed base to movable base. The iterative Newton Euler dynamics algorithm with movable base was given in two cases: without considering the gravity of links and considering it. After that, by using a mathematical method, the iterative Newton Euler dynamics in latter case can be derived by varying the original value of the iterative Newton Euler dynamics algorithm in former case, was verify. This method has a higher efficiency in calculating. At last, this method is applied to the dynamics analysis of a new hybrid machine tool designed in Tsinghua University.更多还原