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class="NewStyle18" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">动力学主要研宄物体运动和受力的关系，与运动学类似，机器人动力学主要解决动 力学正问题和逆问题。动力学正问题是指根据关节力矩或力求解操作臂关节的位移、速 度、加速度，动力学逆问题是指根据操作臂关节的位移、速度、加速度求解所需的关节 力矩或力。</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle18" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">对机器人进行动力学研宄的方法较多，其中，牛顿-欧拉法是利用运动（速度、加速 度）和力递推建立数学模型方程，方程计算量会随着机器人自由度的增加而急剧增加； </span><span class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Huston</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">-</span><span class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Kane</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">法是一种数值方法，该方法侧重于矢量和标量对机器人动力学进行表达， 算法便于实现，但几何意义不明确，难以理解和应用。利用李群李代数方法得到的机器 人动力学方程具有明确的几何意义，计算复杂性低。拉格朗日法是利用系统能量建立数 学模型方程，属于多体系统理论，当广义坐标数很大时，方程将十分复杂</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt; vertical-align: super;">[64]</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">。在高等动 力学中，拉格朗日法是最为常用的方法，</span><span class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Delta</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">机器人将采用拉格朗日法进行动力学研 宄，为了减小该方法的计算量，将对机器人的惯量矩阵进行简化，简化部分是该</span><span class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Delta </span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">机器人动力学计算中的次要量，对动力学的影响很小，简化后的模型作为轨迹规划中动 力学优化的数学模型，在下一章节中，将会利用</span><span class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Delta</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">机器人的上述运动学模型和该简 化的动力学模型进行关节空间、工作空间和混合空间的轨迹规划。</span></p> <p class="NewStyle18" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"> </p> <p class="NewStyle18" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"><span style="font-size:9.0pt;font-family:宋体;mso-ascii-font-family: "Times New Roman";mso-hansi-font-family:"Times New Roman";mso-bidi-font-family: "Times New Roman";mso-font-kerning:1.0pt;mso-ansi-language:EN-US;mso-fareast-language: ZH-CN;mso-bidi-language:AR-SA">本文采摘自“高速并联工业机械手臂分析设计与实现”，因为编辑困难导致有些函数、表格、图片、内容无法显示，有需要者可以在网络中查找相关文章！本文由伯特利数控整理发表文章均来自网络仅供学习参考，转载请注明！</span></p> <p class="NewStyle18" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p></div> <div class="blank30"></div> <!-- tag --> <div class="blank10"></div> 标签： <a href='/index.php?case=tag&act=show&tag=%E5%8A%A0%E5%B7%A5%E4%B8%AD%E5%BF%83' target='_blank'>加工中心</a> <a 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