摘要
在虚拟装配中,商业软件并没有考虑手对实际装配过程的影响,因而得到的装配路径在实际操作中是否可行存在疑问。将手与要装配的零、部件都作为研究对象,结合逆向运动学和一种适合多自由度的路径规划算法进行路径规划,并编写相应的程序,程序运行结果表明该方法所得到的装配路径更加可行。
In virtual assemble, commercial software don't consider the effect of hand in practical assemble, so it's not sure whether the path get from the software is feasible. Takes the hand and the mechanical part as a whole, and combines the inverse kinematics with the path planning algorithm to plan a path for them, then writes a software, the result indicates that the assemble path get from this method is more feasibler.
出处
《现代制造工程》
CSCD
2007年第8期44-46,共3页
Modern Manufacturing Engineering
关键词
虚拟装配
逆运动学
路径规划
Virtual assemble
Inverse kinematics
Path planning