| 基于SimMechanics的4自由度机器人的轨迹规划和仿真系统设计 |
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| 引用本文： | 李万莉,陈熙巍,茹兰.基于SimMechanics的4自由度机器人的轨迹规划和仿真系统设计[J].中国工程机械学报,2008,6(2). |
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| 作者姓名： | 李万莉 陈熙巍 茹兰 |
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| 作者单位： | 同济大学机械工程学院 上海市信息技术学校 |
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| 摘 要： | 针对1台4自由度教学型机器人的结构特点,利用多项式插值规划关节空间的轨迹,并利用Matlab中的SimMechanics工具箱建立运动学仿真模型.仿真结果表明利用仿真模型可以准确、有效地得到机器人的运动参数和运动轨迹,为机器人分析设计提供了可靠依据.
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| 关 键 词： | 机器人 SimMechanics 仿真 轨迹规划 |
Track planning and simulation system design for 4-DOF robots using SimMechanics |
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| LI Wan-li,; CHEN Xi-wei,; RU Lan.Track planning and simulation system design for 4-DOF robots using SimMechanics[J].Chinese Journal of Construction Machinery,2008,6(2). |
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| Authors: | LI Wan-li ; CHEN Xi-wei ; RU Lan |
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| Affiliation: | 1.College of Mechanical Engineering; Tongji University; Shanghai 201804; China; 2.School of Shanghai Information Technology; Shanghai 200331; China); |
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| Abstract: | Pertaining to the structural properties of a 4-DOF education-purpose robot,the spatial tracks of nodes are planned based on the polynomial interpolation technique.In addition,a kinematical simulation model is developed using Matlab SimMechnicsTM.The movement parameters and trajectories are obtained by simulating.It is found from simulation results that the motional parameters and tracks can be accurately and effectively obtained for robot analysis and design. |
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| Keywords: | robot SimMechanics simulation track planning |
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