【摘要】 根据 Asada提出的广义惯性椭球 GIE的构造原则 ,推导了带有局部闭链操作臂的动力学方程 ,构造了工作空间特定平面内的广义惯性椭圆来评价操作臂的动力学性能 .模拟结果表明 ,该方法形象、直观 ,对于机器人结构设计和控制方案的拟定具有重要意义更多还原

【Abstract】 According to the GIE(generalized inetia tensor ellipsoid) making rule, the dynamics equations of the robot with part\|close\|chain arms were presented. On the basis of these equations, the generalized inetia tensor ellipses on special plane of working space were given to anticipate the specialty of the robot arms, the results showed that this method was more useful to robot design and control.更多还原