机械与电子Issue(1)：44-47,4.
基于ADAMS的危险作业机械手工作轨迹分析
Working Trajectory Analysis of Hazardous Operation Manipulator Based on ADAMS
赵亮亮 1马振书 2杜峰坡 2来升1
作者信息
- 1. 军械工程学院,河北石家庄050003
- 2. 总装备部军械技术研究所,河北石家庄050003
- 折叠
摘要
Abstract
The virtual model of the manipulator is established using SolidWorks,and the direct kinematics problem is analyzed based on the Denavit - Hartenberg method. In order to verify the accuracy of solutions, moving behavior simulation for the manipulator is analyzed depending on ADAMS,and trajectory curves of the gripper's centroid accompanied with the first arm's moving are drawn when the manipulator is set in the two kinds of working poses. The curves are consistent with the ones that are drawn by Matlab through analyzing direct kinematics,which proves the analytic results of direct kinematics to be right. In addition, the working trajectory analysis of the gripper provides a reference for optimal design and motion control of the manipulator.关键词
机械手/正向运动学/工作轨迹/ADAMS分类
机械制造引用本文复制引用
赵亮亮,马振书,杜峰坡,来升..基于ADAMS的危险作业机械手工作轨迹分析[J].机械与电子,2011,(1):44-47,4.
