# [1]凌云,金万敏.平面型机器人操作手弹性动力学分析[J].东南大学学报(自然科学版),1989,19(3):109-113.[doi:10.3969/j.issn.1001-0505.1989.03.016] 　Ling Yun Jin Wanmin (Department of Mechanical Engineering).Elastic Dynamic Analysis for Planar Robotic Manipulators[J].Journal of Southeast University (Natural Science Edition),1989,19(3):109-113.[doi:10.3969/j.issn.1001-0505.1989.03.016] 点击复制 平面型机器人操作手弹性动力学分析() 分享到： var jiathis_config = { data_track_clickback: true };

19

1989年第3期

109-113

1989-05-20

## 文章信息/Info

Title:
Elastic Dynamic Analysis for Planar Robotic Manipulators

Author(s):
Ling Yun Jin Wanmin (Department of Mechanical Engineering)

Keywords:

+
DOI:
10.3969/j.issn.1001-0505.1989.03.016

<正> 生产实践对机器人操作手性能的要求越来越高.一方面,要求操作手具有较高的速度、精度及承载能力;另一方面,又要求其重量轻、灵活性大.而操作手重量的减轻又往往导致其刚性降低,工作时更容易产生振动,从而影响机器人的精度及承载能力.因此,如何合理地设计机器人操作手的结构,以更好地协调这两方面的要求,自然成了人们所关注的问题.对操作手进行弹性动力学分析,计算其工作时的动应力、变形及频域特性,便是协调上述两方面要求的重要手段.
Abstract:
This paper presents a modelling method of the elasto-dynamic analysis for planar robotic manipulators.The motion equations of each link of manipu- lators are established by using finite elment method of lumped parameters, and the slope deflections are eliminated from the equations,which greatly reduces the dimensions of the equations.These equations are then assembled together to form motion equation of manipulator system and central finite diffe- rence method is used to solve the equation.The results of the elast-odynamic analysis of a two-link planar robotic manipulator are given.

## 相似文献/References:

[1]查选芳,张融甫.多足步行机器人腿机构的运动学研究[J].东南大学学报(自然科学版),1995,25(2):103.[doi:10.3969/j.issn.1001-0505.1995.02.018]
Zha Xuanfang,Zhang Rongfu,Zhang Rongfu.Research on the Kinematics of Leg Mechanism for Multilegged Walking Roblts[J].Journal of Southeast University (Natural Science Edition),1995,25(3):103.[doi:10.3969/j.issn.1001-0505.1995.02.018]