摘要
利用蒙特卡洛方法,基于MATLAB编程求解机械手的工作空间并得出仿真图像,直观看到机械手可活动的范围;在Matlab/Simulink环境中使用SimMechinics模块建立符合要求的机械手模型,进行六自由度串联机械手的运动学三维图形动态仿真,各以直线轨迹和圆弧轨迹为例,验证理论计算的结果;为串联机械手的进一步研究奠定基础。
The method of monte carlo is used,and manipulator workspace and simulation diagram by MATLAB is gotten,so manipulator sphere of activities can be gained clearly.Using modules in SimMechanics to found right manipulator simulation module under environment of Matlab/Simulink,and then 6 DOF manipulator is graphical simulated in 3D form.Taking beeline trajectory and circle trajectory for instance,the correctness of theory calculation is checked.The simulation has laid groundwork for more study of manipulator.
出处
《煤矿机械》
北大核心
2012年第8期68-70,共3页
Coal Mine Machinery
