基于改进Udwadia-Kalaba方程的双机械臂动力学建模与仿真

刘佳; 史源平; 孙宏强; 刘荣

doi:10.16578/j.issn.1004.2539.2020.01.016

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基于改进Udwadia-Kalaba方程的双机械臂动力学建模与仿真

设计计算 | 更新时间：2022-11-10

- 基于改进Udwadia-Kalaba方程的双机械臂动力学建模与仿真
- Dynamics Modeling and Simulation of Dual-arm Robot based on the Improved Udwadia-Kalaba Equation
- 机械传动 2020年44卷第1期页码：94-98
- 作者机构：
  
  1.石家庄学院机电学院，河北石家庄 050035
  2.北京航空航天大学机器人研究所，北京 100083
- 作者简介：
  
  刘佳（1982— ），男，河北南宫人，博士，讲师，主要研究方向为机器人机构学。
- 基金信息：
  
  石家庄学院博士科研启动基金(18BS014)
- DOI：10.16578/j.issn.1004.2539.2020.01.016
  中图分类号：
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刘佳,史源平,孙宏强等.基于改进Udwadia-Kalaba方程的双机械臂动力学建模与仿真[J].机械传动,2020,44(01):94-98.

Liu Jia,Shi Yuanping,Sun Hongqiang,et al.Dynamics Modeling and Simulation of Dual-arm Robot based on the Improved Udwadia-Kalaba Equation[J].Journal of Mechanical Transmission,2020,44(01):94-98.
刘佳,史源平,孙宏强等.基于改进Udwadia-Kalaba方程的双机械臂动力学建模与仿真[J].机械传动,2020,44(01):94-98. DOI： 10.16578/j.issn.1004.2539.2020.01.016.

Liu Jia,Shi Yuanping,Sun Hongqiang,et al.Dynamics Modeling and Simulation of Dual-arm Robot based on the Improved Udwadia-Kalaba Equation[J].Journal of Mechanical Transmission,2020,44(01):94-98. DOI： 10.16578/j.issn.1004.2539.2020.01.016.

摘要

Udwadia-Kalaba方程为多体系统的动力学建模提供了一种新的思路。以双机械臂协同搬运物体为研究对象，针对Udwadia-Kalaba方程建模过程中存在的获取解析形式的约束关系和数值解存在误差的问题，给出了一种具有广泛意义的约束关系，并对Udwadia-Kalaba方程进行了改进。仿真结果证明了提出方法的有效性。

Abstract

A new idea for dynamics modeling of multibody systems is provided by the Udwadia-Kalaba equation. The generalized constrained relationship is established to obtain the constraint relations in analytical form. The improved Udwadia-Kalaba equation is proposed to eliminate the error which generates during the modeling process by Udwadia-Kalaba equation. The stimulation results show that the proposed methods can be more effectively utilized in dynamics modeling of dual-arm robot.

关键词

Udwadia-Kalaba方程约束关系多体系统动力学建模双机械臂

Keywords

Udwadia-Kalaba equationConstraint relationMultibody systemDynamics modelingDual-arm robot

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