多个刚性机器人协调操作闭链负载，目前已 在其运动学方面有了一些研究，但在柔性机器人领域中，对此问题的研究尚未展开。本文在 对闭链负载机构运动微分关系线性化基础上，利用有限元法和Lagrange方程，推导出柔性机 器人协调操作系统的运动学及动力学协调约束条件，建立了系统的动力学方程，并给出了平 面两个3R柔性机械臂协调操作平面刚性四杆机构完成目标运动规划任务的逆动力学问题的数 值算例。%Based on the linearized differential relationship in a closed-loop linkage payload, the kinematic and dynamic coordinated constraints of the whole system are derived. The system dynamic equations are then developed for the first time by using finite element method and Lagrangernequation. A numerical example of the inverse dynamics of two planar 3-R flexible robots manipulating a four-bar linkage to realize the kinematic planning task of the objective is illustrated successfully.
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