摘要
分析并设计了一种可遍历内椭球面的机械手,建立机械手模型,规划机械手各部件的运动,推导出机械手运动学公式。最后借助MATLAB软件对机械手压轮中心轨迹进行运动仿真,验证了设计的可行性及分析的正确性。
In this paper,a manipulator passing within ellipsoid was analyzed and designed.The kinematics model of manipulator was set up,movement of each part of manipulator was planned,and the kinematics formulas were derived.Finally,the MATLAB software was applied to carry out simulation of the track of the press pulley center on the manipulator.And the result from simulation shows that the feasibility of the manipulator design and the correctness of the analysis were proven.
出处
《机械设计》
CSCD
北大核心
2011年第6期43-45,共3页
Journal of Machine Design
关键词
椭球面
机械手
设计
运动分析
仿真
ellipsoid
manipulator
design
kinematics analysis
simulation
