基于RecurDyn的机械手运动学和动力学仿真
首发时间:2014-11-07
摘要:机械手是模仿人手工作的机械,机械手在生活中的应用能够节约人力和时间,很好的提高劳动效率。但是长期以来,机械手手臂的动力学分析问题一直没有得到很好的解决。本文以机械手为研究对象,通过RecurDyn将设计好的模型进行建模,然后添加约束,对其进行运动学和动力学仿真。通过观察机械手仿真曲线的连续性、平稳性等性能,判断运动方案的合理性,对其做出综合评估。
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Kinematics and Dynamics Simulation of the Manipulator Based on RecurDyn
Abstract:Manipulator is imitate manpower working machinery,Application of mechanical hand can save manpower and timeImprove labor efficiency.But for a long time,the problem of the dynamics analysis of mechanical arm has not been solved very well.This paper takes the manipulator as the research object,establish a three-dimensional model by RecurDyn software and adding constraint .The kinematics and dynamic simulation of the manipulator is presented at the end.By observation the continuity and stationarity of manipulator simulation curves,judge the rationality of the motion scheme,to make a comprehensive evaluation.
Keywords: manipulator kinematics dynamics RecurDyn
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No.4616550977090141****
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