基于ADAMS的欠驱动机械臂机构的运动特性分析
首发时间:2007-12-24
摘要:本文以三维欠驱动机械臂机构为研究对象,在Solidworks环境下建立了欠驱动机械臂机构的虚拟样机模型,并将实体模型导入到ADAMS环境下,实现了其运动学仿真分析.该方法简化了机械臂的设计开发工作,也为样机的调试与控制提供了理论依据.
关键词: 机械臂;虚拟样机;仿真;运动学
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Analysis on Dynamic Characteristic of Underactuated Manipulator Based on ADAMS
Abstract:A kind of underactuated manipulator mechanism which can move in three-dimensional space is studied in this paper. The virtual prototype of it is established under the SolidWorks software and the digital models are imported into ADAMS. The kinematics simulation and analysis of t he virtual prototype model is accomplished. This method simplifies the design and development of mechanical products , therefore , more energy can be used on improving the characteristics and optimizing the structure. Meanwhile , it also provides theoretical foundation for prototype’s debugging and control .
Keywords: Manipulator virtual prototype simulation kinematics
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No.1732217902611984****
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