[1]周根泉,郭务仁,凌云.机器人结构弹性动力学建模[J].东南大学学报(自然科学版),1989,19(6):22-29.[doi:10.3969/j.issn.1001-0505.1989.06.004]
 Zhou Genquan Guo Wuren Leng Uun(Department of Mechanical Engineering).Modelling of The Elasto-Dynamic Analysis of Robots[J].Journal of Southeast University (Natural Science Edition),1989,19(6):22-29.[doi:10.3969/j.issn.1001-0505.1989.06.004]
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机器人结构弹性动力学建模()
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《东南大学学报(自然科学版)》[ISSN:1001-0505/CN:32-1178/N]

卷:
19
期数:
1989年第6期
页码:
22-29
栏目:
本刊信息
出版日期:
1989-11-20

文章信息/Info

Title:
Modelling of The Elasto-Dynamic Analysis of Robots
作者:
周根泉郭务仁凌云
东南大学机械工程系; 东南大学机械工程系
Author(s):
Zhou Genquan Guo Wuren Leng Uun(Department of Mechanical Engineering)
关键词:
机械手 弹性动力学 有限元法
Keywords:
manipulators finite element method elastic dynamics
分类号:
+
DOI:
10.3969/j.issn.1001-0505.1989.06.004
摘要:
本文用有限元方法建立关节式机器人弹性动力学分析模型,着重讨论了系统组装过程中关节处的坐标转换、关节弹性处理等方面问题,并编制了相应的通用程序。该程序可求解系统运动过程中各位置时的固有频率、未端各向弹性变形、给定截面最大等效应力、终止位置系统结构振型以及给定精度要求下的残余振动时间,并把计算结果用图形直观地表示出来,最后,本文以六自由度关节机器人为例,对其手臂结构进行了全面的弹性动力学分析。
Abstract:
In this paper, the elastic dynamics analysis model of jointed robot is established with Finite Element Method. The treating of joint flexibility and the joint coordinate transformation in the process of the assembling of system are discussed in detail, and the relevant programs are also designed. The programs can solve the natural frequencies, the deflections of robot tip at any position, the maximum equivalent stress at any given cross-section, the viberation models at terminal position and the time of residual vibration. All the calculation can be graphed if necessary. At the end of this paper, a jointed robot with six degrees of freedom is taken as an example, all the dynamic behaviors of it are discussed fully.

相似文献/References:

[1]叶桦,冯纯伯.机械手的运动学最短时间轨迹规划[J].东南大学学报(自然科学版),1990,20(3):74.[doi:10.3969/j.issn.1001-0505.1990.03.012]
 Kinematic Minimum-Time Trajectory Planning for a Manipulator[J].Journal of Southeast University (Natural Science Edition),1990,20(6):74.[doi:10.3969/j.issn.1001-0505.1990.03.012]
[2]金万敏.7R多关节型机械手的运动分析[J].东南大学学报(自然科学版),1986,16(3):11.[doi:10.3969/j.issn.1001-0505.1986.03.002]
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[3]凌云,刘才山.机器人操作手弹性动力学分析一般模型[J].东南大学学报(自然科学版),1990,20(4):89.[doi:10.3969/j.issn.1001-0505.1990.04.013]
 Ling Yun,Liu Caishan.A General Model for Elastodynamic Analysis of Robotic Manipulators[J].Journal of Southeast University (Natural Science Edition),1990,20(6):89.[doi:10.3969/j.issn.1001-0505.1990.04.013]

更新日期/Last Update: 2013-04-30