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基于6自由度的关节机器人动力学研究 被引量：3

Research on the dynamic of a 6 DOF multi-joint robot
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摘要 在6自由度关节机器人的结构设计过程中,对6自由度关节机器人的动力学特性进行了研究。建立了六自由度关节机器人的模型,用拉格朗日方法,建立了机构的的动力学方程。结合样机,运用软件对机器人进行仿真分析,给出了机器人各关节转角、关节驱动力矩随时间的变化规律。 In the process of structural design of a 6 DOF multi-joint robot,this paper studied the dynamic of a6 DOF multi-joint robot. Firstly established the model for a 6 DOF multi-joint robot,and established dynamics equations by Lagrange method. Secondly with practical example and using software to make simulation analysis.Finally obtained the changing rule of each joint angle and joint driving torque with time.
作者 陈朋威 岳盼薇 CHEN Pengwei;YUE Panwei(The 16th Institute,Ninth Academy of China Aerospace Science and Technology Corporation,Xi'an710100,China)
机构地区 中国航天科技集团公司第九研究院十六研究所
出处 《重型机械》 2018年第1期45-47,共3页 Heavy Machinery
关键词 机器人 动力学 ADAMS robot dynamic ADAMS
分类号 TH122 [机械工程—机械设计及理论]
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重型机械
2018年 第1期

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