摘要
设计一个6自由度通用操作臂机器人系统,其中关键技术之一就是对相应的机器人本体的运动学进行分析,并建立相应的动力学模型。本文以我校自主研发的教学机器人为参考,详细地描述了关节型机器人的运动学和动力学模型的建立,这对开发该类型机器人系统将有重要的参考价值。
Design a robot system of the general manipulator with six drgrees of freedom, it is the key techniqtte to make kinematic analysis and build dynamic model based on the robot. In this paper, it adopts the Experimental robot which are studied by ours, describes detailedly the product＇ s dynamics characters . The paper has certain reference value for actual application study the robot system with the same type.
出处
《机械设计与制造》
北大核心
2006年第3期116-117,共2页
Machinery Design & Manufacture
关键词
教学机器人
运动学分析
动力学建模
Experimental robot
Kinematics analysis
Dynamic equation
