摘要
以Diamond并联机构为研究对象,建立系统的数学模型,并基于Matlab-Simulink模块集建立了该并联机构的运动学和动力学仿真模型。设置各项参数后,对该并联机构进行动力学仿真,得到了各构件的运动曲线和动力特性曲线。与其它方法相比,该方法建模方便,可直接观察机构运动特性变化,有利于对机构进行分析,为进一步研究机电联合仿真奠定了基础。
Taking the Diamond parallel mechanism as the researching target,the mathematical model of the system was established.Based on the module set of Matlab-Simulink,the kinematical and dynamic simulation model was set up with the parallel mechanism.After simulation parameters were given,the kinematical simulation of this robot was carried out,and the motion curves and the dunamic characteristic curves were obtained.Compared with the other simulation results,this method can provide a convenient tool for the model...
出处
《山东科技大学学报（自然科学版）》
CAS
2010年第1期90-94,共5页
Journal of Shandong University of Science and Technology(Natural Science)
基金
山东科技大学"春蕾计划"项目(06540040401)
