[1] Gao Haitao, Zhang Zhisheng, Cao Jie, Shi Jinfei, et al. General dynamic model for educational assembling-typerobot and its fast simulation algorithm [J]. Journal of Southeast University (English Edition), 2009, 25 (3): 340-345. [doi:10.3969/j.issn.1003-7985.2009.03.012]

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General dynamic model for educational assembling-typerobot and its fast simulation algorithm()

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Journal of Southeast University (English Edition)[ISSN:1003-7985/CN:32-1325/N]

Volumn:

25

Issue:

2009 3

Page:

340-345

Research Field:

Automation

Publishing date:

2009-09-30

Info

Title:

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

Author(s):

Gao Haitao;  Zhang Zhisheng;  Cao Jie;  Shi Jinfei

School of Mechanical Engineering, Southeast University, Nanjing 211189, China

Keywords:

educational robot;  dynamic model;  sparse matrix;  augmentation algorithm;  constraint stabilization

PACS:

TP242

DOI:

10.3969/j.issn.1003-7985.2009.03.012

Abstract:

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.

References:

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Memo

Memo:

Biographies: Gao Haitao(1979—), male, graduate;Zhang Zhisheng(corresponding author), male, doctor, professor, oldbc@seu.edu.cn.
Foundation items: Hexa-Type Elites Peak Program of Jiangsu Province(No.2008144), Qing Lan Project of Jiangsu Province, Fund for Excellent Young Teachers of Southeast University.
Citation: Gao Haitao, Zhang Zhisheng, Cao Jie, et al.General dynamic model for educational assembling-type robot and its fast simulation algorithm[J].Journal of Southeast University(English Edition), 2009, 25(3):340-345.

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