进一步完善空间算子代数理论体系,研究了带有主被动关节的树形柔性机器人系统符号动力学高效率建模的方法.利用拓扑结构和低序体阵列的方法描述了树型机器人系统.采用空间算子研究了欠驱动树型多体系统的描述方法.根据系统中铰的驱动情况分别对铰链定义为主动铰和被动铰,建立树形机器人系统的运动学,然后通过铰链的类型分别按照两次从系统的顶端到基座的顺序、一次从基座到顶端的顺序进行了系统铰接体惯量的递推、系统冗余力的递推、广义加速度和广义主动力的递推,最后将分叉处的广义力和广义加速度矢量相加得到树形机器人系统的广义动力学模型.通过上述递推过程建立动力学模型,实现了高效率D(N)(N为系统自由度)次的计算效率.最后以加拿大树形空间机械臂为例做仿真验证了本研究内容的正确性和高效性.%The generalized high-efficient recursive dynamics model of a flexible tree robots system with activepassive joint was developed in this paper,where the tree robots system was described by the topology method and the lower body array.Meanwhile,the method to describe the under-actuated rigid-flexible multibody system based on Spatial Operator Algebra (SOA) theory was proposed.The hinges were defined as active or passive joints according to the driving conditions of the joint in the system.The dynamics model was then constructed.Subsequently,the generalized articulated inertia-matrix,the residual forces and the generalized acceleration and torque were computed through twice tip-to-base recursive and once base-to-tip recursive.The generalized torque and the generalized acceleration was linear added at the branch.At last,the generalized dynamics model of the flexible tree robots system was generated.The high-efficient O(N) th(N is degrees of freedom of robots system)computation efficiency was realized through the developed dynamics model in above recursive process.Simulation results show that the dynamic modeling and fast integration techniques proposed in this paper are correct and efficient.
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