摘要
通过D_H法建立六自由度喷涂机器人运动学方程,在这个的基础上利用Matlab软件绘制出整个机器人的工作空间。同时运用ADAMS建立了喷涂机器人的虚拟样机模型,不仅直观地证明了所建立的运动学模型的正确性,更为以后的机器人动力学分析、轨迹控制奠定了基础。
In this paper,the forward kinematics equation of spraying robot is built by the D-H method.The whole workspace of the 6 dof painting robot was drawn on the basis of kinematics analysis of this robot by using Matlab software.Using ADAMS software to build the Virtual Prototype Model of the robot and do some simulation analysis which not only proves the correctness of the kinematics Model and also build the foundation for future research.
出处
《现代机械》
2011年第1期37-39,51,共4页
Modern Machinery
