Title:
CLOSED-CHAIN ROBOT DYNAMICS MODELING AND SOLUTION METHOD BASED ON AXIS INVARIANT
Document Type and Number:
WIPO Patent Application WO/2020/034399
Kind Code:
A1
Abstract:
A closed-chain robot dynamics and calculation method based on an axis invariant, wherein a Ju-Kane dynamics equation of a closed-chain rigid-body system is established, and the Ju-Kane closed-chain rigid-body dynamics based on a natural axis chain of a joint space overcomes the limitations of a Cartesian coordinate axis chain space: in Newton-Euler dynamics based on a Cartesian coordinate axis chain, a non-tree kinematic pair constraint cannot express constraints, such as a rack and a gear, and a worm gear and a worm. An algebraic constraint equation of the non-tree constraint pair can express any constraint class, and the physical connotation is clear; the complexity of solving a system equation is reduced; and the accuracy of the constraint equation is ensured.
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Inventors:
JU HEHUA (CN)
Application Number:
PCT/CN2018/112583
Publication Date:
February 20, 2020
Filing Date:
October 30, 2018
Export Citation:
Assignee:
JU HEHUA (CN)
International Classes:
B25J9/16
Foreign References:
CN107529630A | 2018-01-02 | |||
CN106055733A | 2016-10-26 | |||
CN108038286A | 2018-05-15 | |||
CN107256284A | 2017-10-17 | |||
CN104573255A | 2015-04-29 |
Attorney, Agent or Firm:
JIANGSU FD YONGHENG LAW FIRM (CN)
Download PDF:
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