摘要
为了全面分析4自由度液压机器人的综合性能,提出了基于数字化虚拟样机RecurDyn的仿真方法。以1台试验性4自由度液压机器人为对象,系统研究机器人的运动学特征。在RecurDyn中导入由CATIA建立的几何模型进行动力学的仿真分析,并通过Matlab对运动学和动力学进行数学建模计算来验证RecurDyn的正确性。该研究方法从系统的角度对4自由度液压机器人的性能进行了综合评估,提高了产品的开发速度和精度,降低了开发成本。
In order to comprehensively analyze the overall performance of the 4 DOF（degree of freedom） hydraulic robots,the paper proposes the simulation method based on digital virtual prototype RecurDyn,and systematically studies robot kinematics features by taking one experimental 4 DOF hydraulic robot as an object.The paper conducts dynamics simulation analysis via importing the geometric model established by CATIA into RecurDyn,and verifies the correctness of RecurDyn through the kinematics and dynamics mathematical modeling calculations.The research method applies comprehensive evaluation to the performance of the 4 DOF hydraulic robots,improving product development speed and accuracy while reducing the development costs.
出处
《起重运输机械》
2011年第3期50-53,共4页
Hoisting and Conveying Machinery
