[1]费燕琼,况迎辉,赵锡芳,等.可装配的模块机器人动力学的自动生成[J].东南大学学报(自然科学版),2000,30(2):84-88.[doi:10.3969/j.issn.1001-0505.2000.02.018]
 Fei Yanqiong,Kuang Yinghui,Zhao Xifang,et al.Generating the Dynamics of Assembling Modular Robot Automatically[J].Journal of Southeast University (Natural Science Edition),2000,30(2):84-88.[doi:10.3969/j.issn.1001-0505.2000.02.018]
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可装配的模块机器人动力学的自动生成()
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《东南大学学报(自然科学版)》[ISSN:1001-0505/CN:32-1178/N]

卷:
30
期数:
2000年第2期
页码:
84-88
栏目:
自动化
出版日期:
2000-03-19

文章信息/Info

Title:
Generating the Dynamics of Assembling Modular Robot Automatically
作者:
费燕琼1 况迎辉2 赵锡芳1 徐卫良3
1 上海交通大学机器人研究所, 上海 200030; 2 东南大学仪器科学与工程系,南京 210096; 3 东南大学机械工程系, 南京 210096
Author(s):
Fei Yanqiong1 Kuang Yinghui2 Zhao Xifang1 Xu Weiliang3
1 Research Institute of Robotics,Shanghai Jiaotong University, Shanghai 200030
2 Department of Instruments,Southeast University, Nanjing 210096
3 Department of Mechanical Engineering,Southeast University, Nanjing 2
关键词:
可装配的模块机器人 自动 动力学
Keywords:
assembling modular robot automatic dynamics
分类号:
TP242
DOI:
10.3969/j.issn.1001-0505.2000.02.018
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.
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.

参考文献/References:

[1] Wurst K H.The conception and construction of a modular robot system.Proc of Int Symp on Industrial Robotics,1986(16):37~44
[2] Wurst K H.Flexible robot system—conception and realization of modular robot components:[dissertation].Germany:University of Stuttgart,1991
[3] Tesar D,Butler M S.A generalized modular architecture for robot structures.J of Manufacturing Review,1989,2(2):91~118
[4] 武科布拉托维奇 M,波特柯涅克 V.操作机器人动力学——理论与应用.北京:科学出版社,1990
[5] 武科布拉托维奇 M,基尔强斯基 N.操作机器人的实时动力学.北京:科学出版社,1992
[6] Chen I-Ming,Yang Guilin.Automatic generation of dynamics for modular robots with hybrid geometry.International Conf on Robotics and Automation,1997,(4):2288~2293
[7] 费燕琼.可重构形模块机器人学的研究:[学位论文].南京:东南大学机械工程系,1998

备注/Memo

备注/Memo:
第一作者:女,1972年生, 博士研究生.
更新日期/Last Update: 2000-03-20