机器人动态模拟的研究

Research of Simulation of Robot Manipulator

本文给出了机器人运动学通用计算公式及动力学计算方法。应用该方法可对不同类型的机器人动态特性参数进行计算分析,从而为机器人的设计提供了理论依据。

In this paper, a complete model of robot manipulator is proposed. The theoretical equation and the calculation method are given. Some characteristic factors that are very important for the design of robot manipulator can be calculated with the model and the calculating method.