General dynamic model for educational assembling-type robot and its fast simulation algorithm

作     者：高海涛 张志胜 曹杰 史金飞 Gao Haitao;Zhang Zhisheng;Cao Jie;Shi Jinfei

作者机构：东南大学机械工程学院南京211189 

出 版 物：《Journal of Southeast University(English Edition)》 (东南大学学报（英文版）)

年 卷 期：2009年第25卷第3期

页      面：340-345页

核心收录：

学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 

基　　金：Hexa-Type Elites Peak Program of Jiangsu Province(No.2008144) Qing Lan Project of Jiangsu Province Fund for Excellent Young Teachers of Southeast University 

主　　题：educational robot dynamic model sparse matrix augmentation algorithm constraint stabilization 

摘      要：To realize automatic modeling and dynamic simulation of the educational assembling-type robot with open structure, a general dynamic model for the educational assembling-type robot and a fast simulation algorithm are put forward. First, the educational robot system is abstracted to a multibody system and a general dynamic model of the educational robot is constructed by the Newton-Euler method. Then the dynamic model is simplified by a combination of components with fixed connections according to the structural characteristics of the educational robot. Secondly, in order to obtain a high efficiency simulation algorithm, based on the sparse matrix technique, the augmentation algorithm and the direct projective constraint stabilization algorithm are improved. Finally, a numerical example is given. The results show that the model and the fast algorithm are valid and effective. This study lays a dynamic foundation for realizing the simulation platform of the educational robot.