论文部分内容阅读
柔性机械臂的研究具有重要的工程实际意义。本文应用虚功原理建立了柔性链式多体系统动力学微分方程。对应由－刚杆－柔杆加上刚性负载所组成的三维机械臂系统，采用 Ｇｅａｒ算法进行了三维数值计算。计算结果比较符合实际。
The research of flexible manipulator has important practical engineering significance. In this paper, the principle of virtual work is used to establish the dynamic differential equation of flexible chain multi-body system. Corresponding to the three-dimensional manipulator system consisting of rigid rod, flexible rod and rigid load, Gear algorithm was used to calculate the three-dimensional numerical value. The calculation results are more realistic.