...
  • 主题
高级搜索  >
历史搜索 清空历史
首页> 外文期刊>JSME International Journal. Series C, Mechanical Systems, Machine Elements and Manufacturing >Tip Dynamic Response of Elastic Joint Manipulators Subjected to a Stochastic Base Excitation
【24h】

Tip Dynamic Response of Elastic Joint Manipulators Subjected to a Stochastic Base Excitation

机译：随机基础激励下弹性关节机械臂的尖端动力响应

获取原文
获取原文并翻译 | 示例
   

获取外文期刊封面封底 >>

       
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

An approach to study of the tip dynamic response (displacement and velocity) of elastic joint manipulators subjected to a vertical stochastic excitation of the base is presented. The crossing analysis of maximum displacement of the manipulator tip along a determined path is also investigated. Dynamic equations of motion of an n-link articulated elastic joint manipulator subjected to a vertical stochastic base excitation are derived by using the Euler-Lagrange equations and then extended by Taylor series expansion. The resulting dynamic equations are linearized with respect to links vibration. The power spectral density representation is used to compute the second moment matrix of angular displacement and velocity of the links and also to compute the second moment matrix of manipulator tip dynamic response. Then the crossing analysis and also the probability that any maximum peak displacement value of manipulator tip exceeds from a determined level along a path are investigated. Finally, some of simulation results for a two-link planar robot manipulator subjected to a vertical stochastic excitation of the base are presented.
机译：提出了一种研究弹性铰接机械臂的尖端动态响应（位移和速度）的方法，该机械臂受到了基座的垂直随机激励。还研究了机械手沿确定路径的最大位移的交叉分析。利用Euler-Lagrange方程推导了n连杆铰接式弹性关节机械臂在垂直随机基础激励下的运动动力学方程，然后通过泰勒级数展开对其进行了扩展。生成的动力学方程相对于链节振动线性化。功率谱密度表示用于计算连杆的角位移和速度的第二矩矩阵，还用于计算机械手尖端动态响应的第二矩矩阵。然后，研究交叉分析以及操纵器尖端的任何最大峰值位移值超过沿路径确定的水平的概率。最后，给出了在基础上进行垂直随机激励的两连杆平面机器人操纵器的一些仿真结果。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号