摘要
应用机器人运动学的原理 ,采用 Denavit- Hartenberg方法 ,建立了挖掘机工作装置的三维几何运动模型 ,研究了挖掘机铲斗姿态表示的坐标变换过程 ,并用Open GL和面向对象方法对其进行了三维运动学仿真。
Based on the kinematics principle of robot and Denavit Hartenberg method, a 3D geometric kinematics model, which emulates the working equipment of hydraulic excavator, was built. The coordination transformation used to describe the bucket gesture of excavator was studied, and corresponding 3D kinematics simulation was realized through OpenGL graphic API and object oriented method.
出处
《机械科学与技术》
CSCD
北大核心
2000年第5期736-737,共2页
Mechanical Science and Technology for Aerospace Engineering
