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Volume 9 Issue 1
Oct.  2021
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Article Contents
Gong Xinxi, Feng Dekun. Establish the Dynamic Equations of Steel Robot-1 Manipulator[J]. Chinese Journal of Engineering, 1987, 9(1): 113-119. doi: 10.13374/j.issn1001-053x.1987.01.018
Citation: Gong Xinxi, Feng Dekun. Establish the Dynamic Equations of Steel Robot-1 Manipulator[J]. Chinese Journal of Engineering, 1987, 9(1): 113-119. doi: 10.13374/j.issn1001-053x.1987.01.018

Establish the Dynamic Equations of Steel Robot-1 Manipulator

doi: 10.13374/j.issn1001-053x.1987.01.018
  • Received Date: 1986-02-28
    Available Online: 2021-10-28
  • In this paper, Using the Lagrangian equations, the dynamics equations of Steel Robot-1 manipulator of our university is established to explain the physical sense of dynamic equations. By means of the kinetic energy and the potential energy of the manipulator mechanism, the simple relation between the joint torques and the joint angular accelerations are found out. Paul's approximate method is used to simplify the process of the derivation for applying actually.

     

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      沈陽化工大學材料科學與工程學院 沈陽 110142

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