多杆空间柔性机器人递推拉格朗日动力学建模和仿真.docVIP

图 1 空间站远程操作系统 Fig.1 The Space Station remote manipulator system(SSRMS 图2 关节转角时间变化率 图3 关节转角时间变化率 图4 关节转角时间变化率 Fig.2 The time rate of joint angle Fig.3 The time rate of joint angle Fig.4 The time rate of joint angle 图5 关节转角时间变化率 图6 关节转角时间变化率 图7 第二柔性杆末端变形 Fig.5 The time rate of joint angle Fig.6 The time rate of joint angle Fig.7 The tip deflection the second flexible link 图 8 第二柔性杆末端变形速度 Fig.8 The time rate of the tip deflection 图 9 第二柔性杆末端扭转变形 of the second flexible link 图 10 第二柔性杆末端扭转变形速率 deformation of the second flexible link Fig.9 The tip torsional deformation Fig.10 The time rate of the