Ball joint actuator dynamics modeling method based on spinor theory and Kane equation

The invention provides a dynamic modeling method of a ball joint actuator based on a spinor theory and a Kane equation, which combines the spinor theory and the Kane equation to define a main power spinor, an inertia force spinor and an offset velocity spinor. A speed Jacobian matrix of the ball joint actuator is calculated by using a new method combining a vector product and a spinor theory, then partial speed spinor is obtained, and a ball joint actuator kinetic equation based on the spinor theory and a Kane equation is deduced. The method has the characteristics that the form of the kinetic equation is simple, the calculation speed is high, the kinetic equation of a complex system is easily solved by using a computer, and the like, and the kinetic modeling of the ball joint actuator is efficiently realized. 本发明提供一种基于旋量理论与凯恩方程的球关节执行器动力学建模方法，将旋量理论与凯恩方程结合起来，对主动力旋量、惯性力旋量和偏速度旋量进行定义，用一种将矢量积与旋量理论结合起来的新方法来计算出球关节执行器的速度雅可比矩阵，进而得到偏速度旋量，推导出基于旋量理论和凯恩方程的球关节执行器动力学方程。本发明动力学方程形式简单、计算速度快、易于利用计算机对复杂系统的动力学方程进行求解等特点，高效的实现了对球关节