【摘要】 根据可装配的模块机器人及模块化思想 ,建立各个模块的速度、加速度等动力学表达式及相关修正公式 ,采用补偿迭代法来自动生成动力学方程 ,最后以二自由度模块机器人为例得出在Windows环境下自动生成的动力学仿真图形 .更多还原

【Abstract】 After having established the assembling modular robot and modular idea,the formulas of velocity, acceleration and other essential dynamics equations have been derived. For the purpose of automated modeling, the dynamics problems are solved by means of an iteration compensative method. Lots of simulation results are given under Windows environment.更多还原