CAJ | 학술논문

关节是机械臂的核心部件，在机械臂动力学中起着重要的作用，精确的关节动力学模型是机械臂系统设计、分析和控制的基础．以四自由度机械臂为研究对象，首先给出柔性关节机械臂的简化模型，然后运用Lagrange方法建立了考虑关节柔性和电气特性动力学方程．
관절시궤계비적핵심부건，재궤계비동역학중기착중요적작용，정학적관절동역학모형시궤계비계통설계、분석화공제적기출．이사자유도궤계비위연구대상，수선급출유성관절궤계비적간화모형，연후운용Lagrange방법건립료고필관절유성화전기특성동역학방정．
Joint is the key part of manipulators, which plays an important role in the dynamic. A precise joint dynamic model is the basis of design, analysis and control of manipulators. For the four-DOF manipulator the paper firstly gives a simplified model of the flexible joint manipulator,and then elaborates the joint flexibility and electrical characteristics, derivation of dynamic equations using the method of Lagrange.