【摘要】 动力学的计算在机械手臂设计阶段和运动控制阶段都有实际意义。本文对空间五自由度机械手进行动力学分析并采用拉格朗日动力学方法建立理想情况下,即没有考虑摩擦影响下的动力学模型并结合相应计算机算法完成该机械手的动力学逆解仿真计算研究。更多还原

【Abstract】 Dynamics calculation is meaningful both in the design stage and the movement control stage of a manipulator. It conducts dynamics analysis to the space 5-DOF manipulator and adopts the Lagrange dynamics method to establish an ideal model,i.e.,a dynamics model integrating with corresponding computer algorithm without considering the influences of friction force,to complete the research on the simulation calculation of dynamics inverse solution.更多还原