摘要
阐述了排爆机器人作业手臂的结构设计以及运动学分析,建立了相应的运动学模型,并在此基础上求解了机械臂的正、反运动学方程.最后为了验证结构以及运动学分析,用Matlab软件中的Ro-botics Toolbox对整个系统进行了仿真,结果说明该设计方法是可行的.
Mechanical design and kinematics analysis of bomb - disposed robot manipulator were discussed in this paper, and kinematics model was established. Based on it, forward and inverse kinematics equations were solved. At last,a simple simulation was performed by Robotics Toolbox of Matlab software for the structure and kinematics analysis. And the results appeared that this kind of method was correct and feasible.
出处
《机械与电子》
2009年第3期66-69,共4页
Machinery & Electronics
