摘要
设计6自由度通用操作臂机器人系统的关键技术之一就是对相应的机器人本体的运动学进行分析,并建立相应的动力学模型。文中以北方工业大学自主研发的教学机器人为例,详细描述了关节型机器人的运动学和动力学模型的建立,这对开发该类型机器人系统将有重要的参考价值。
A robot system of the general manipulator with six drgrees of freedom is designed, it is the key technique to make kinematic analysis and build dynamic model based on the robot. In this paper, it adopts the experimental robot which is studied by North China University of Technology, describes the product's dynamics characters in details. The paper has certain reference value for actual application study the robot system with the same type.
出处
《机械工程师》
2005年第6期34-35,共2页
Mechanical Engineer
关键词
教学机器人
运动学分析
动力学建模
experimental robot
kinematics analysis
dynamic equation
