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Applied Mathematics and Mechanics (English Edition) ›› 2005, Vol. 26 ›› Issue (5): 627-.

• Articles • 上一篇    下一篇

INVESTIGATION ON KANE DYNAMIC EQUATIONS BASED ON SCREW THEORY FOR OPENCHAIN MANIPUI.ATORS

刘武发 龚振邦 汪勤悫   

  1. 1. College of Mechanical Engineering, Zhengzhou University, Zhengzhou 450002, P.R. China;
    2. School of Electromechanical Engineering and Automation, Shanghai University, Shanghai 200072, P.R. China
  • 收稿日期:2003-11-08 修回日期:2004-12-24 出版日期:2005-05-03 发布日期:2005-05-03
  • 通讯作者: LIU Wu-Fa E-mail:Iiuwufa@zzu.edu.cn

INVESTIGATION ON KANE DYNAMIC EQUATIONS BASED ON SCREW THEORY FOR OPENCHAIN MANIPUI.ATORS

 LIU Wu-Fa, GONG Zhen-Bang, HONG Qi-Que   

  1. 1. College of Mechanical Engineering, Zhengzhou University, Zhengzhou 450002, P.R. China;
    2. School of Electromechanical Engineering and Automation, Shanghai University, Shanghai 200072, P.R. China
  • Received:2003-11-08 Revised:2004-12-24 Online:2005-05-03 Published:2005-05-03
  • Contact: LIU Wu-Fa E-mail:Iiuwufa@zzu.edu.cn

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摘要： First, screw theory, product of exponential formulas and Jacobian matrix are introduced. Then definitions are given about active force wrench, inertial force wrench, partial velocity twist, generalized active force, and generalized inertial force according to screw
theory. After that Kane dynamic equations based on screw theory for open-chain manipulators have been derived. Later on how to compute the partial velocity twist by geometrical method is illustrated. Finally the correctness of conclusions is verified by example.

关键词: screw theory, partial velocity twist, open-chain manipulator, Kane dynamic equation, uniformly valid, asymptotic solution, turning point

Abstract: First, screw theory, product of exponential formulas and Jacobian matrix are introduced. Then definitions are given about active force wrench, inertial force wrench, partial velocity twist, generalized active force, and generalized inertial force according to screw
theory. After that Kane dynamic equations based on screw theory for open-chain manipulators have been derived. Later on how to compute the partial velocity twist by geometrical method is illustrated. Finally the correctness of conclusions is verified by example.

Key words: screw theory, partial velocity twist, open-chain manipulator, Kane dynamic equation, uniformly valid, asymptotic solution, turning point

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