摘要
为了提高三维空间助力机械臂的设计效率,运用拉格朗日方法建立机械臂的动力学模型,利用SolidWorks建立三维空间助力机械臂的构件模型,将装配后三维实体模型导入A D A M S中进行动力学仿真分析,得到相关性能曲线图,为空间助力机械臂的结构设计和最优控制提供依据。
In order to improve the design efficiency of three-dimensional space manipulator, the dynamic modeling of the manipulator is established by using Lagrange method, the three-dimensional solid component model of space manipulator is built by Solidworks, the three-dimensional solid model after assembled is imported into ADAMS to carry out the dynamic simulation analysis. Related performance curve is obtained to provide reference for the mechanical structure design and the optimal control of the space manipulator.
出处
《机械工程师》
2017年第1期15-17,共3页
Mechanical Engineer
