【摘要】 首先介绍了旋量的基本理论、指数积及雅可比矩阵·　在此基础上定义了基于旋量理论的主动力旋量、惯性力旋量、偏速度旋量、广义主动力及广义惯性力等概念,之后推导出了基于旋量理论的开链机器人动力学Kane方程,再者阐明了偏速度旋量几何计算,最后以示例验证结论的正确性·更多还原

【Abstract】 First,screw theory,product of exponential formulas and Jacobian matrix are introduced.Then definitions are given about active force wrench,inertial force wrench,partial velocity twist,generalized active force,and generalized inertial force according to screw theory.After that Kane dynamic equations based on screw theory for open_chain manipulators have been derived.Later on how to compute the partial velocity twist by geometrical method is illustrated.Finally the correctness of conclusions is verified by example.更多还原