论文部分内容阅读
机器人动力学的研究是所有类型机器人发展过程中不可逾越的环节,也是形成机器人终极产品性能评价指标重要的科学依据,以往机器人的发展已经表明,多体系统动力学是机器人研发中不可或缺的基础力学理论.随着新型传动与驱动机构以及智能与软物质材料的出现,可以预计柔性化、软性化、可变化、微型化和控制智能化将成为未来机器人发展的重要方向,使机器人的各种作动更接近生物体的仿生体,因此,以仿生为主要特征的刚柔耦合、柔软体和变形机器人对任务和环境的
The research of robot dynamics is an insurmountable link in the development of all types of robots and an important scientific basis for forming the ultimate performance evaluation index of robots. In the past, the development of robots has shown that multi-body system dynamics are indispensable in the research and development of robots Fundamental mechanics theory With the advent of new transmission and drive mechanisms and intelligent and soft materials, it can be expected that flexibility, softness, changeability, miniaturization and control intelligence will become the important directions for future robot development, A variety of actions closer to the biological body of the bionic body, therefore, to bionic as the main features of rigid-flexible coupling, soft body and deformation of the robot mission and the environment