KINEMATIC AND DYNAMIC ANALYSIS FOR PROSTHETIC ROBOTS WITH HYBRID KINEMATIC CHAINS

摘要

Based on the dynamic concept of Kane′s method,a new method is presented for the analysis and computation of the inverse dynamics of robots with the hybrid open and closed chain mechanism.Logic open chains are divided, on which the velocities and the accelerations are calculated. The Partial velocities are derived with the velocities and the particle derivatives of generalized velocities. The driving forces or monuments are obtained finally through the Kane′s equation. The recursive standard computation is so plain and terse that is can be realized in a computer easily.