摘要
基于多刚体动力学的原理,在分析机械臂的运动学和拉格朗日动力学方程的基础上求解其雅可比矩阵,并采用虚拟样机技术建立了机械臂的三维仿真模型,进行了动力学分析,获得了机械臂的动态特性。通过将获得的动态特性还原到模型中,建立了基于可视化技术的机械臂运动姿态的计算机动画,逼真地模拟了机械臂的整个运动过程,检验了机械臂动力学模型的相关性能。
Based on principle of multi-rigid body kinematics and Lagrange dynamical equations of mechanic arm, it＇ s Jaccobi matrix had been solved and the 3D simulation model had been proposed to analyze the simulation of dynamics and obtained the dynamical characteristics by using virtual prototype. The computer animation of mechanic arm based on computation visualization technology was found, it had been proved by remapping the dynamic characteristics to the virtual model that the dynamic model and properties of the mechanic arm were reliable and efficient.
出处
《计算机应用研究》
CSCD
北大核心
2009年第1期105-107,共3页
Application Research of Computers
基金
国家"973"计划资助项目(2007CB714701)
关键词
机械臂
动力学仿真
虚拟样机
计算机动画
mechanic arm
dynamical simulation
virtual prototype
computer animation
