CAJ | 학술논문

根据 D-H 方法建立6R 机器人的连杆坐标系，在此基础上，通过综合考虑机器人关节柔度与臂杆柔度，利用牛顿-欧拉法得到了6R 机器人的柔体动力学方程；同时，根据模态理论计算了柔性机器人固有频率，并通过建立刚柔耦合模型进行仿真分析，验证了理论模型的正确性。
근거 D-H 방법건립6R 궤기인적련간좌표계，재차기출상，통과종합고필궤기인관절유도여비간유도，이용우돈-구랍법득도료6R 궤기인적유체동역학방정；동시，근거모태이론계산료유성궤기인고유빈솔，병통과건립강유우합모형진행방진분석，험증료이론모형적정학성。
The paper firstly established a link coordinate system of 6R robot according to D-H method.On the basis of the coordinate system,flexible dynamic equations for the 6R robot were then given by means of Newton-Euler method considering joint flexibility and arm flexibility.Meanwhile,natural frequencies for the flexible 6R robot were calculated with modal theories.Finally,a rigid-flexible coupling modeling was set up for the robot,and simulation analysis was made with the model,and the results proved the va-lidity of the dynamic modeling.