摘要
为构建一新型4自由度串并联机器人结构模型,应用ADAMS和Pro/E软件平台分别对其进行了运动学仿真,通过对已经建立的实体模型和关节运动控制变量的定义,运动轨迹的选取,以及合理选择运动学求解控制算法,最终可以获取动画、平面图形、具体数据等仿真分析结果,通过对比两种仿真的结果,可以验证两种仿真方法的正确性。
For the sake of establishing the structural model of a kind of new typed 4 D0F serial-parallel robot, kinematic simulations were respectively carried out on the model by applying platforms of ADAMS and Pro/E software. By means of defining on the already established entity model and the controlling variables of joint movement, through the selection of motion track and reasonably choosing the controlling algorithm of the kinematic solution, thus the result of simulative analysis of animation, planar graph and concrete data etc. can be finally obtained. By means of comparing the results of two kinds of simulation, the correctness of these two kinds of simulation method can be verified.
出处
《机械设计》
CSCD
北大核心
2009年第8期31-33,共3页
Journal of Machine Design
关键词
串并联
机器人
自由度
仿真
对比分析
serial-parallel
robot
degree of freedom
simulation
contrastive analysis
