摘要
设计完成了具有两个自由度的闭链触觉再现平面机构 ,对该机构进行了运动学和静力学分析 ,得到了其位移求解的正反向运动方程和电机输出力矩的计算方法 ,为选择电机提供了依据。以虚拟样机技术为基础 ,综合应用三维实体造型软件 UG和机械系统动力学分析软件 ADAMS建立了所设计的触觉机构的虚拟样机 ,通过仿真分析 ,验证了所设计机构的实用性和理论推导结论的正确性。
Two DOF closed chain haptic mechanism was designed and simulated in this paper. Kinematics and statics of the mechanism were analyzed, the forward and reverse kinematics equations used for computing displacements and the calculation method of the output toques of the driving motors were gained,which this provided basis for selecting the motors. The virtual prototype of the mechanism was established by using 3D solid modeling software UG and automatic dynamic analysis software of mechanical system ADAMS. The practicability of the mechanism and the correctness of the conclusion obtained theoretically were validated by means of analyses and simulation.
出处
《机械工程》
CSCD
北大核心
2004年第5期438-441,共4页
基金
国家自然科学基金资助项目 (5 0 2 75 0 0 3 )
