| 上假肢运动学逆解可视化研究 |
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| 引用本文： | 刘小羊,林大钧,郑鹏飞,吴志庭.上假肢运动学逆解可视化研究[J].工程图学学报,2011,32(1):119-123. |
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| 作者姓名： | 刘小羊 林大钧 郑鹏飞 吴志庭 |
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| 作者单位： | 华东理工大学机械与动力工程学院; |
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| 摘 要： | 针对上假肢的结构特点,提出用机构运动等同性条件和代数法相结合的方法来解决上假肢运动关节变量的逆解问题,以避免多次逆矩阵相乘。利用VB对CATIA进行二次开发,在CATIA软件中实现上假肢关节各个解所对应的空间位置姿态图形显示,可直观地判断解的有效性,为上假肢运动控制研究奠定基础。
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| 关 键 词： | 计算机应用 上假肢 可视化 CATIA二次开发 运动学逆解 |
The Visualization Research of Artificial Upper Limbs Inverse Kinematics Resolution |
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| LIU Xiao-yang,LIN Da-jun,ZHENG Peng-fei,WU Zhi-ting.The Visualization Research of Artificial Upper Limbs Inverse Kinematics Resolution[J].Journal of Engineering Graphics,2011,32(1):119-123. |
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| Authors: | LIU Xiao-yang LIN Da-jun ZHENG Peng-fei WU Zhi-ting |
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| Affiliation: | LIU Xiao-yang,LIN Da-jun,ZHENG Peng-fei,WU Zhi-ting(School of Mechanical Power and Engineering,East China University of Science and Technology,Shanghai 200237,China) |
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| Abstract: | A method based on algebraic and identity conditions for mechanism is presented to solve artificial upper limbs inverse kinematics problems.The method can avoid multi-times inverse matrics mutiplication in the course of deduction.The spatial positions of each joint angel are shown in CATIA by secondary development of CATIA with VB.It can determine the solutions directly and lay the foundation for movement research of artificial upper limbs. |
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| Keywords: | computer application artificial upper limbs visualization secondary development of CATIA inverse kinematics resolution |
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