标题：
An innovative joint-space dynamic theory for rigid multi-axis system-Part Ⅰ: Fundamental principles
点击次数：
发表刊物：
Applied Mathematical Modelling
关键字：
Joint-space dynamics; Multi-axis system; Explicit inverse dynamic method; Kinematic chain symbol system
摘要：
This study, being divided into two parts, proposes an innovative joint-space dynamics theory for rigid multi-axis system. This paper, being the first part, demonstrates the fundamental principles and presents the detailed mathematical derivation of explicit inverse dynamic equations. To yield an explicit form of dynamic equations, a fully parameterized kinematic chain symbolic system is introduced. Then the Lagrangian equations are furtherly derived to eliminate the redundant terms. The obtained equation has a concise expression which explicitly contains kinematic parameters, dynamic parameters, and joint variables. Moreover, taking advantage of the explicit expression of dynamic equation, this method has fewer modeling processes which only includes coordinate system establishment, parameter determination and parameter substitution. Finally, the correctness of proposed method is validated by a planar 3-axis manipulator example and a 3-axis Mars Rover rocker arm example.
论文类型：
期刊论文
ISSN号：
0307-904X
是否译文：
否
发表时间：
2022-05-18
发表时间：
2022-05-18
学位：工学博士学位
职称：教授
所在单位：航天学院