摘要
分析了机器人运动学问题的几种主要的求解方法和特点。运用CAD/CAE集成软件对空间多关节机器人进行了三维造型设计及运动学仿真分析与研究。实验研究证明,这种分析方法比传统的数学解析计算方法简单易行、直观明确、速度快、精度高。通过虚拟装配和运动仿真可以得到机器人运动学和动力学方面的多组数据,而且可自动实现数据获取、分类、保存、绘制特性曲线图等功能。
The solution to some kinematical problems of the robot was introduced. The three-dimensional sculpt design and kinematical simulation analysis of space multi-joint robot were made by using CAD/CAE integration software. The results show that compared to the traditional analytical method, the new analytical method is simple, straight and definite, which has high speed and accuracy. The method can obtain the data of robot kinematics and dynamics through virtual assembly and motion simulation, it can fulfill the functions of data collection, classification, storage automatically.
出处
《机床与液压》
北大核心
2009年第8期184-185,188,共3页
Machine Tool & Hydraulics
基金
光机电装备技术北京市重点实验室开放课题基金资助项目(KF2007-06)
