摘要
利用SolidWorks软件创建机械手的虚拟样机模型,采用D-H法对机械臂进行正向运动学分析和解算,为进一步验证解的正确性,运用ADAMS软件对机械臂运动特性进行仿真分析,得到了机械手处于2种抓取位姿时手爪形心随大臂俯仰的轨迹曲线,与经过正向运动学分析由Matlab绘制的曲线相吻合,这就证明了正向运动学分析的正确性。同时,基于ADAMS的机械手工作轨迹分析,为机械臂的优化设计及运动控制提供了参考依据。
The virtual model of the manipulator is established using SolidWorks,and the direct kinematics problem is analyzed based on the Denavit-Hartenberg method.In order to verify the accuracy of solutions,moving behavior simulation for the manipulator is analyzed depending on ADAMS,and trajectory curves of the gripper＇s centroid accompanied with the first arm＇s moving are drawn when the manipulator is set in the two kinds of working poses.The curves are consistent with the ones that are drawn by Matlab through analyzing direct kinematics,which proves the analytic results of direct kinematics to be right.In addition,the working trajectory analysis of the gripper provides a reference for optimal design and motion control of the manipulator.
出处
《机械与电子》
2011年第1期44-47,共4页
Machinery & Electronics
