摘要
在平面内运动的三杆柔性机械手运动学方程的建立是对其动力学分析和进行准确控制的基础。应用浮动坐标系,矢量法和D-H变换矩阵法建立了机械手的运动学模型,通过机械手各构件关节变量求解出机械手末端执行器的笛卡尔坐标空间位姿。使用Matlab软件对机械手末端运动轨迹和角度变化等进行了仿真实验,证明了柔性机械手弹性变形在空间准确定位中的影响,提出了一些减小误差的方法,为进一步研究柔性机械手较为精确的动力学和控制模型奠定了良好的基础。
The foundation of the accurate control and dynamic analysis of three flexible manipulators moving withinplane is building based on the kinematics equation.The kinematics model of the manipulators is established by floating frame of reference ,vector method and D-H transformation matrix.The position of ma- nipulator gripper end is confirmed in the cartesian coordinate space by angle of each joint.The motion path and angle change of manipulator gripper end is simulated by using Matlab,which verifies the influence of flexible manipulators ＇elastic deformation in accurate space position.So the method of reduce error is provided Meanwhile ,the foundation of researching more accurate dynamics model and control model is established
出处
《机械设计与制造》
北大核心
2012年第12期174-176,共3页
Machinery Design & Manufacture
基金
河北省自然基金(E2010000049)
国家自然基金(61075097)
