【摘要】 Udwadia-Kalaba方程为多体系统的动力学建模提供了一种新的思路。以双机械臂协同搬运物体为研究对象,针对Udwadia-Kalaba方程建模过程中存在的获取解析形式的约束关系和数值解存在误差的问题,给出了一种具有广泛意义的约束关系,并对Udwadia-Kalaba方程进行了改进。仿真结果证明了提出方法的有效性。更多还原

【Abstract】 A new idea for dynamics modeling of multibody systems is provided by the Udwadia-Kalabaequation. The generalized constrained relationship is established to obtain the constraint relations in analyticalform. The improved Udwadia-Kalaba equation is proposed to eliminate the error which generates during themodeling process by Udwadia-Kalaba equation. The stimulation results show that the proposed methods can bemore effectively utilized in dynamics modeling of dual-arm robot.更多还原