| 三臂机器人在轨动力学仿真 |
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| 引用本文： | 黄晋英,杜为民,李辉,蒋志宏,杨欢.三臂机器人在轨动力学仿真[J].中国机械工程,2016,27(3):328-333. |
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| 作者姓名： | 黄晋英 杜为民 李辉 蒋志宏 杨欢 |
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| 作者单位： | 1.北京理工大学，北京，1010081
2.中北大学，太原，030051
3.中国民用航空河南空管分局，郑州，451162 |
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| 摘 要： | 根据航天机器人太空作业的需要，设计了三臂机器人简化模型，应用D-H方法建立了坐标变换矩阵，推导了该机器人的运动学方程。基于ADAMS虚拟样机技术，分别在三种重力场环境下，对机器人的爬杆过程进行仿真，得到了机械手攀爬过程受力曲线，分析了影响机械手夹持力的主要因素，从而为这类机器人的设计提供参考。
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| 关 键 词： | 机器人 在轨 仿真 夹持力 |
Dynamic Simulation for a Three-arm Robot on Orbit |
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| Huang Jinying,Du Weimin,Li Hui,Jiang Zhihong,Yang Huan.Dynamic Simulation for a Three-arm Robot on Orbit[J].China Mechanical Engineering,2016,27(3):328-333. |
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| Authors: | Huang Jinying Du Weimin Li Hui Jiang Zhihong Yang Huan |
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| Affiliation: | 1.Beijing Institute of Tecnology,Beijing,100081
2.North University of China,Taiyuan,030051
3.Henan Branch of Air Traffic Control of Civil Aviation of China,Zhengzhou,451162 |
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| Abstract: | A simplified robot model with three arms was designed according to the needs of space operations. The coordinate transformation matrix was established based on the D-H method and the kinematic equations of the robot were derived. Based on ADAMS virtual prototyping technology, the climbing process of the robot on a pole was simulated for three kinds of gravity, respectively. The force curves and effect factors were obtained so as to offer the design references for the robot. |
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| Keywords: | robot on orbit simulation clamping force |
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