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面包屑導航結束 --> <!-- 頁面標題開始 --> <div id="n1l1njb9b" class="title"> <h3><a>Delta 機器人動力學分析<small></small></a></h3> </div> <!-- 頁面標題結束 --> <hr class="featurette-divider"> <!-- 中部開始 --> <div id="n1l1njb9b" class="container"> <!-- 正文 --> <div id="n1l1njb9b" class="lead" id="print"> <p> <span style="font-family: 宋體; font-size: 11pt; letter-spacing: 0pt; line-height: 11pt;">2.4 動力學分析</span></p> <p class="NewStyle18" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">動力學主要研宄物體運動和受力的關系，與運動學類似，機器人動力學主要解決動 力學正問題和逆問題。動力學正問題是指根據關節力矩或力求解操作臂關節的位移、速 度、加速度，動力學逆問題是指根據操作臂關節的位移、速度、加速度求解所需的關節 力矩或力。</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle18" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">對機器人進行動力學研宄的方法較多，其中，牛頓-歐拉法是利用運動（速度、加速 度）和力遞推建立數學模型方程，方程計算量會隨著機器人自由度的增加而急劇增加； </span><span id="n1l1njb9b" class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Huston</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">-</span><span id="n1l1njb9b" class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Kane</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">法是一種數值方法，該方法側重于矢量和標量對機器人動力學進行表達， 算法便于實現，但幾何意義不明確，難以理解和應用。利用李群李代數方法得到的機器 人動力學方程具有明確的幾何意義，計算復雜性低。拉格朗日法是利用系統能量建立數 學模型方程，屬于多體系統理論，當廣義坐標數很大時，方程將十分復雜</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt; vertical-align: super;">[64]</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">。在高等動 力學中，拉格朗日法是最為常用的方法，</span><span id="n1l1njb9b" class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Delta</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">機器人將采用拉格朗日法進行動力學研 宄，為了減小該方法的計算量，將對機器人的慣量矩陣進行簡化，簡化部分是該</span><span id="n1l1njb9b" class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Delta </span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">機器人動力學計算中的次要量，對動力學的影響很小，簡化后的模型作為軌跡規劃中動 力學優化的數學模型，在下一章節中，將會利用</span><span id="n1l1njb9b" class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Delta</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">機器人的上述運動學模型和該簡 化的動力學模型進行關節空間、工作空間和混合空間的軌跡規劃。</span></p> <p class="NewStyle18" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"> </p> <p class="NewStyle18" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"><span style="font-size:9.0pt;font-family:宋體;mso-ascii-font-family: "Times New Roman";mso-hansi-font-family:"Times New Roman";mso-bidi-font-family: "Times New Roman";mso-font-kerning:1.0pt;mso-ansi-language:EN-US;mso-fareast-language: ZH-CN;mso-bidi-language:AR-SA">本文采摘自“高速并聯工業機械手臂分析設計與實現”，因為編輯困難導致有些函數、表格、圖片、內容無法顯示，有需要者可以在網絡中查找相關文章！本文由伯特利數控整理發表文章均來自網絡僅供學習參考，轉載請注明！</span></p> <p class="NewStyle18" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p></div> <div id="n1l1njb9b" class="blank30"></div> <!-- tag --> <div id="n1l1njb9b" class="blank10"></div> 標簽： <a href='/index.php?case=tag&act=show&tag=%E5%8A%A0%E5%B7%A5%E4%B8%AD%E5%BF%83' target='_blank'>加工中心</a> <a href='/index.php?case=tag&act=show&tag=%E6%95%B0%E6%8E%A7%E5%8A%A0%E5%B7%A5%E4%B8%AD%E5%BF%83' target='_blank'>數控加工中心</a> <a href='/index.php?case=tag&act=show&tag=CNC%E5%8A%A0%E5%B7%A5%E4%B8%AD%E5%BF%83' target='_blank'>CNC加工中心</a> <a href='/index.php?case=tag&act=show&tag=%E6%95%B0%E6%8E%A7%E6%9C%BA%E5%BA%8A' target='_blank'>數控機床</a> <a href='/index.php?case=tag&act=show&tag=%E9%AB%98%E9%80%9F%E5%8A%A0%E5%B7%A5%E4%B8%AD%E5%BF%83' 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