基于Hamilton原理的刚柔机械臂动力学建模

2015 16th International Conference on Sciences and Techniques of Automatic Control and Computer Engineering (STA) Pub Date : 2015-12-01 DOI:10.1109/STA.2015.7505189

S. Hamdi, R. Boucetta, S. B. A. Naoui

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引用次数: 7

摘要

本文提出了一种基于Hamilton原理的刚柔机械臂机器人动力学建模方法。首先，在拉格朗日量中确定并引入了动能和势能，以应用哈密顿原理。然后，采用变量分离的方法对运动方程进行简化。最后给出了仿真结果，显示了在有阻尼和无阻尼情况下的端点柔性和动态特性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Dynamic modeling of a rigid-flexible manipulator using Hamilton's principle

This paper presents the development of a dynamic modeling for a rigid-flexible manipulator robot, generated using Hamilton's principle. First, the kinetic and potential energies are determined and introduced in the Lagrangian to apply the Hamilton's principle. Then, a method of variable separation is used to simplify the dynamic equations of motion. Simulation results are given, finally, to show the end-point flexibility and dynamic behavior with and without damping.

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2015 16th International Conference on Sciences and Techniques of Automatic Control and Computer Engineering (STA)

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