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NON-IDEAL ARTICULATED ROBOT DYNAMICS MODELING AND SOLUTION METHOD BASED ON AXIS INVARIANT
NON-IDEAL ARTICULATED ROBOT DYNAMICS MODELING AND SOLUTION METHOD BASED ON AXIS INVARIANT
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机译：基于轴不变性的非理想铰接机器人动力学建模与求解方法
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摘要
A non-ideal articulated robot dynamics and solution method based on an axis invariant. For a non-ideal constraint system, a Ju-Kane dynamic equation of a closed-chain rigid-body non-ideal constraint system is established. Ju-Kane closed-chain rigid-body dynamics based on a natural axis chain in a joint space overcomes the limitations of a Cartesian coordinate axis chain space: in Newton-Euler dynamics based on a Cartesian coordinate axis chain, non-tree kinematic pair constraints cannot express constraints such as rack and pinion, and worm gear and worm. In the method, the constraint algebraic equation of the non-tree constraint pair can express any kind of constraint, and the physical connotation is clear; the complexity of solving the system equation is reduced; the accuracy of the constraint equation is ensured.
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