| 基于虚拟样机技术的排球机器人手掌机构仿真 |
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| 引用本文： | 方林,刘正士,王勇. 基于虚拟样机技术的排球机器人手掌机构仿真[J]. 计算机仿真, 2008, 25(7) |
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| 作者姓名： | 方林 刘正士 王勇 |
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| 作者单位： | 合肥工业大学机械与汽车工程学院,安徽,合肥,230009;合肥工业大学机械与汽车工程学院,安徽,合肥,230009;合肥工业大学机械与汽车工程学院,安徽,合肥,230009 |
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| 基金项目： | 国家重点科技攻关计划项目、奥运科技专项子课题 |
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| 摘 要： | 基于平面连杆机构的运动学基本原理,分析推导了排球机器人手掌机构的运动学解析表达式,得出了正向运动学分析的解析解;并利用MATLAB软件编程,计算得出了数值解,并利用该软件分别仿真绘制出了连杆和手掌的角位移曲线、角速度曲线和角角速度曲线,从理论的角度上验证了机构设计参数的合理性.在此基础上,利用软件Pro/E软件建立了样机的模型,采用其Pro/Mechanism模块对样机进行仿真试验,得出了样机手掌的角位移曲线以及手掌和连杆的角速度、角加速度曲线,从试验角度进一步验证了机构参数的合理性.
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| 关 键 词： | 机构分析 仿真 排球机器人 |
Simulation of Volleyball Robot's Palm Based on Virtual Prototyping Technology |
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| FANG Lin,LIU Zheng-shi,WANG Yong. Simulation of Volleyball Robot's Palm Based on Virtual Prototyping Technology[J]. Computer Simulation, 2008, 25(7) |
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| Authors: | FANG Lin LIU Zheng-shi WANG Yong |
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| Affiliation: | FANG Lin,LIU Zheng-shi,WANG Yong(School of Machinery , Automobile Engineering,Hefei University of Technology,Hefei Anhui 230009,China) |
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| Abstract: | This paper deduced the analytic expression of volley-ball robot's palm mechanism,and derived the analytic solution of the kinematic problems according to the principle of parallel mechanism.And it obtained the arithmetic solution of this problem by means of MATLAB programs,furthermore simulated the figure of position,velocity and acceleration of the robot's palm and link on the basis of this program.And it testified the rationality of the design parameters from the angle of theory,then built a model of the ... |
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| Keywords: | Mechanism analysis Simulation Volleyball robot |
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