多自由度假肢运动学分析
首发时间:2010-09-01
摘要:本论文对某种机器人型假肢的结构进行了设计,将假肢设计成具有5个运动自由度和1个局部自由度的结构。通过对其结构特性的分析,用D-H法建立了假肢各连杆坐标系,并推导获得了其相对于基础坐标系的运动学正解矩阵方程。在此基础上,借助蒙特卡洛方法,分析了假肢的工作空间,并用图形的方式对其进行了仿真显示。该假肢的工作空间为一椭球缺形状,工作空间形状紧凑,无空穴和空洞。
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Analysis on kinematics about A more DOF prosthesis
Abstract:A robot-prosthesis is designed in this paper. The prosthesis's structure is designed with five movement DOF and a local DOF. By analysis of the structure, it's coordinates of all the links are established using D-H method. The matrix equation of the kinematics relative the foundation coordinates is derivated. On this basis, by dint of Monte-Carlo method the work space of the prosthesis is analyzed, and simulated in graphic way which shows a scarcity ellipse ball shape. The work space is compact, and has not any holes or sockets.
Keywords: robot prosthesis structure kinematics analysis work space analysis
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No.4383195539904128****
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