摘要
讨论了一种三自由度水下机械手运动学仿真的问题,利用Paul等人提出的代数解法对机械手的关节角和末端执行器坐标之间的关系进行数学计算。在此基础上对计算进行简化,减少计算量,并利用机械系统仿真分析软件ADAMS进行仿真分析。
The paper introduces kinematics simulation for a kind of 3 deg re es of freedom manipulator. Using the algebras method that put forward by Paul to computing the relations between the joint angle and the ending actuator coordin ates of the manipulator.The method not only simplifies the solving process,but a lso reduces the computations,and using the mechanical system simulation program - ADAMS to simulate it.
出处
《机械设计与制造》
北大核心
2005年第7期85-86,共2页
Machinery Design & Manufacture
