摘要
运用Matlab语言给出了平面3RRR并联机构三维仿真实体模型的简单画法及三维实体模型的运动仿真,同时又运用微分法和影响系数两种算法仿真了机构的速度及加速度曲线,最后从仿真图中直接分析了机构的奇异位型点,并说明了文献[7]中运用新的性能分析方法所得出的机构尺寸变化对机构性能影响的结论的实用性。这充分展现了Matlab的科学计算可视化技术在机器人领域的应用及发展前景。
It is presented how to protract simply three-dimension simulation model and its motion curves of the plane parallel mechanism 3RRR with Matlab in this paper. At the same time simulation curves of this mechanism’s velocity and acceleration are rendered by using the two methods of differential and influence coefficient. Finally from simulation carves we directly analyze singularity location and verify the statements on mechanic dimension influencing mechanic performance in literature[7] by using a novel analyses method .It exhibits the broad prospect of application and development of VISC (visualization in scientific computing) of Matlab in the field of Robot research.
出处
《系统仿真学报》
CAS
CSCD
2004年第10期2273-2275,2308,共4页
Journal of System Simulation
基金
河北自然科学基金资助(503311)
