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 In order to obtain the essence relation between mobile platform and manipulator, wheeled mobile manipulator's optimal configuration was discussed based on simplified mobile manipulator and equivalent mass matrix, then the relation between the direction of maximal manipulability and mobility manipulator's configurations was derived. The relation will be a base for further investigating mobile manipulator's coordination.  为了揭示移动平台和机械手间的本质关系，可将移动机械手加以简化．采用等质量矩阵方法研究了轮式移动机械手的优化构形，得到了最大操作度方向与移动机械手构形间的关系．此关系为进一步研究移动机械手的协调方法打下了一定基础．  The general equivalent dynamics model for 7RⅢdegree mechanism was established on the basis of EFEM(equivalent finite element method).The fundamental principle is that equivalent should be combined with FEM(finite element method).Quality and inertia are equivalent to the centroid or on the two ends of the bar for any form of component by the type of statical and dynamical condensation.Every element was built through the FEM.The system motive differential equation for any kind of constraint was derived.The key... The general equivalent dynamics model for 7RⅢdegree mechanism was established on the basis of EFEM(equivalent finite element method).The fundamental principle is that equivalent should be combined with FEM(finite element method).Quality and inertia are equivalent to the centroid or on the two ends of the bar for any form of component by the type of statical and dynamical condensation.Every element was built through the FEM.The system motive differential equation for any kind of constraint was derived.The key point of building dynamic model is to set up 2 steps tensor Tia and 3 steps tenser Tibc and assemble the equivalent mass matrix.The process to establish dynamics model was simple,rapid,standard,unification and programmed and the function is easy to be assembled.  以等效元素法建立了7RⅢ级机构的通用动力学模型,将等效的思想与有限元的方法结合起来,通过静力和动力凝聚的方式将任一形式的构件的质量和惯量向质心或杆件两端等效,采用有限元方法对单元进行集成组装,建立既适用于定常约束系统也适用于非定常约束系统的动力学微分方程,将建模的关键归结为二阶张量Tia和三阶张量Tibc的建立以及等效质量阵的组装,建模和解算过程简单快捷.实现了规范、统一、易于组装和计算机编程的动力学系统建模.  The equivalent approach combined with FEM was adopted to establish an equivalent dynamic model for a RRR Ⅱ grade bargroup.The key in building the dynamic model is to set up a second order tensor and a third order tenser,as well as to assemble an equivalent mass matrix.A RRR[CD*2]RRR 6bar mechanism was taken as example,the procedures of modeling,solving and analyzing processes were demonstrated and the response curves of its dynamics were obtained.The dynamic analysis proved that the method had a high... The equivalent approach combined with FEM was adopted to establish an equivalent dynamic model for a RRR Ⅱ grade bargroup.The key in building the dynamic model is to set up a second order tensor and a third order tenser,as well as to assemble an equivalent mass matrix.A RRR[CD*2]RRR 6bar mechanism was taken as example,the procedures of modeling,solving and analyzing processes were demonstrated and the response curves of its dynamics were obtained.The dynamic analysis proved that the method had a high efficiency compared with the conventional ones.  将等效的思想与有限元的方法结合起来,用等效元素法建立了RRR Ⅱ级杆组的动力学等效模型,给出了其动力学微分方程,将建模的关键归结为二阶张量Tia和三阶张量Tibc的建立以及等效质量阵的组装。对给定的RRRRRR六杆机构进行了建模和求解,给出了其动力响应曲线。实例表明,此方法与传统方法比较,无论从微分方程的列写,还是由计算机进行的解算,都显示出强大优势,解题效率高。   << 更多相关文摘 
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