【摘要】 应用旋量理论建立了SCARA机器人的运动学模型,并以此为基础建立动力学模型。此方法融合了拉格朗日,牛顿-欧拉法以及旋量的特点,易于求解。简要讨论了动力学与机器人轨迹精度。更多还原

【Abstract】 The paper applies of screw theory to establish SCARA robot’s kinematics model,and builds a dynamics model based on it.This method combines the characteristics of Lagrange method,Newton -Euler method and screw theory,makes it easy to solve.The relationship between the robot trajectory accuracy and dynamics is discussed briefly.更多还原