摘要
在分析冗余度操作臂本体设计关键技术的基础上,以UGNX软件为平台,构建了虚拟设计和仿真分析的流程图。并以一种超冗余关节型操作臂为例,对其进行三维实体造型和虚拟装配,建立了虚拟样机;在UGNX/Motion模块中实现冗余度操作臂的运动仿真及其运动学分析,为其设计方案的评估和物理样机的加工制造奠定基础。
The structure design, kinematics simulation and dynamics analysis of joint redundant manipulators are an extremely complex process. Research methods based on theoretical model are still proved by many examples. UGNX is one of advanced three-dimension softwares. Based on the analysis of key design technologies of joint redundant manipulators, the flow chart of virtual design and kinematics simulation was set up by the platform of UGNX. Taking a highly redundant manipulator as an example, 3D model, virtual assembly, virtual prototype weree established. The kinemics simulation of manipulator and its analysis were completed in the UNGX/Motion module.
出处
《机床与液压》
北大核心
2008年第B07期361-364,375,共5页
Machine Tool & Hydraulics
基金
江苏省自然科学基金资助项目(BK2005051)
