摘要
为了增强双臂SCARA机器人设计开发时的系统性,增加理论知识的参考性,缩短机器人初步设计的周期,提高机器人的竞争力,同时为双臂SCARA机器人建立一种普适的研究方法,本文提出了基于初步建模仿真的双臂SCARA机器人设计分析方法。从初步建模仿真的思想出发,通过双臂SCARA机器人运动学模型以及动力学模型,实现初步建模仿真的理论、方法在双臂SCARA机器人设计开发中的应用,建立了一种普遍适用双臂SCARA机器人设计开发的研究方法。
In order to enhance the systematicity of the design and development of dual - arm SCARA robots, in- crease the reference of theoretical knowledge, shorten the period of initial design of robots, improve the competi-tiveness of robots, and establish a universal research method for dual - arm SCARA robots. The thesis presents a design and analysis method for dual -arm SCARA robot based on preliminary modeling and simulation. Starting from the idea of preliminacy modeling and simulation, through the dual - arm SCARA robot kinematics model and dynamics model, the theol-y and method of preliminal-y modeling and simulation are applied in the design and devel- opment of dual - arm SCARA robots, and a universally applicable research method for dual - arm SCARA robot de-sign and development is established.
作者
刘宝红
温可
何永义
Liu Baohong;Wen Ke;He Yongyi.
出处
《计量与测试技术》
2018年第10期89-92,95,共5页
Metrology & Measurement Technique
基金
中华人民共和国上海市科委的科技成果转化和产业化领域的"高速可靠精密多轴伺服机械手及关键零部件的技术开发与应用研究"项目(项目号:13dz1100503)
关键词
初步建模仿真
运动学模型
动力学模型
结构模型
设计分析方法
preliminacy modeling and simulation
kinematics model
dynamics model
structural model
design and a-nalysis method
