【摘要】 研究了柔性机械臂系统的逆动力学问题及其联接铰驱动规律。在柔性多体系统动力学单向递推组集建模方法的基础上,建立了树形及含闭环的柔性多体系统正逆动力学问题同时计算的等价公式。通过一空间机械臂的数值仿真,讨论了构件的柔性效应对系统的驱动力(矩)及实际运动规律的影响。更多还原

【Abstract】 This paper studies the inverse dynamics and driving laws of flexible robotics. The equivalent formulation of inverse dynamics is established for open and closed loop flexible multibody systems based on single recursive modeling method. A space robotics is simulated to exhibit the influence of flexibility to the driving torques and to its motion.更多还原