| 引用本文: | 古浪平.人手操作的联体计算.[J].国防科技大学学报,1988,10(3):18-26 ，109.[点击复制] |
| Gu Langping.Conneeting Body Calculation Operated By The Hand of The Robot[J].Journal of National University of Defense Technology,1988,10(3):18-26 ，109[点击复制] |
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| 人手操作的联体计算 |
| 古浪平 |
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(航天技术系)
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| 摘要: |
| 机器人的一个重要理论问题是如何控制机械手以获得所需要的运动。本文将人手操作的基本运动，抽象为具有七个构件而有九个自由度的刚体系统，严格地分析了这些运动，并根据实际情况考虑到各构件的重力、控制力和摩擦阻力，因此能完成人手操作的多种功能。而为了便于在计算机上实施运算利用 Kane方程建立了以广义坐标表达的运动微分方程，这可作为分析机械手运动的理论依据。 |
| 关键词: 偏速度、偏角速度、广义速率、广义主动力、广义惯性力 |
| DOI： |
| 投稿日期：1987-11-01 |
| 基金项目: |
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| Conneeting Body Calculation Operated By The Hand of The Robot |
| Gu Langping |
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(Department of Aerospace Technology)
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| Abstract: |
| An important theoretical problem of the robot is how to gain necessary movement by controling mechanical hand. This paper describes the basic movement of the manual operation as the system of a rigid body which is made up of seven parts withe nive degrees of freedom. This movements are anlysed strictly and exactly with the gravity，control and friction of the seven parts into consideration. Various functions can be cleverly performed by the robot. In order to facilitate calculation on the computer，movement
differential equations are created in terms of kane equation. These differantial equations are expressed by generaliced coordinates，which can be regarded as theoretical proof of analysing the movement mechenical hand. |
| Keywords: Partial velocity,Partial angular velocity,general velocity,general active force,General inertial force |
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