摘要
采用四参数(D-H)方法建立坐标系,在建立机械手运动学模型基础上,推导其运动学方程,并且进行求解。为进一步验证解的正确性,运用ADAMS分析软件对运动过程进行仿真,测量各个关节角度、手爪形心位置坐标随时间的变化关系,通过测量对比、分析数据曲线得到各个角度值与手爪形心位置坐标的对应关系,与计算结果对比验证。结果证实运动学方程的建立是正确的,同时证实了采用ADAMS仿真技术对运动学方程解的验证的可行性。
Using the D-H method to establish the generalized coordinates, base on the establishment of the manipulator kinematic model. Deduce the kinematic equation, and calculated the equation. For the sake of further verification solution of accuracy, usage ADAMS to simulate the progress and find out the relation of each joint angle, the hand center mark with time. Form the measurement, build up the date cure, contrasted calculating result and the cure, the conclusion confirm that the kinematics equation is accurate, it verified the ADAMS can be used to verify the solver of the kinematics equation.
出处
《现代制造工程》
CSCD
2008年第11期114-117,共4页
Modern Manufacturing Engineering
