| 五自由度机械手动力学分析与仿真 |
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| 引用本文： | 刘淑英,张明路,韩慧伶.五自由度机械手动力学分析与仿真[J].河北工业大学学报,2009,38(2). |
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| 作者姓名： | 刘淑英 张明路 韩慧伶 |
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| 作者单位： | 1. 河北工业大学机械工程学院,天津,300130
2. 空军航宅大学航空机械工程系,吉林长春,130022 |
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| 基金项目： | 国家高技术研究发展计划(863计划)，国家高技术研究发展计划(863计划) |
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| 摘 要： | 针对五自由度机械手,基于Lagrange方程建立了五自由度机械手的动力学模型,通过UG建立实体仿真模型,利用UG与ADAMS良好的接口直接导入ADAMS建立了虚拟样机,并且进行了动力学仿真,得出了各关节转角和关节力矩的关系曲线,分析了末端机械手速度对各关节力矩、角速度和角加速度的影响,这对提高机械手的设计性能、减少研发时间提供了帮助,并为机械手的控制分析打下了基础.
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| 关 键 词： | 五自由度 移动机械手 动力学 建模 仿真 |
Study and Simulation of Dynamics of 5-DOF Manipulator |
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| LIU Shu-ying,ZHANG Ming-lu,HAN Hui-ling.Study and Simulation of Dynamics of 5-DOF Manipulator[J].Journal of Hebei University of Technology,2009,38(2). |
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| Authors: | LIU Shu-ying ZHANG Ming-lu HAN Hui-ling |
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| Affiliation: | 1.School of Mechanical Engineering;Hebei University of Technology;Tianjin 300130;China;2.Department of Aeronautical and Mechanical Engineering;Air Force Aviation University;Jilin Changchun 130022;China |
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| Abstract: | Based on the Lagrange equation,the dynamic model of 5-DOF manipulators is obtained.Then the simulation model which set up in UG is exported to ADAMS.Thus,the virtual prototype is established.On the base of these,the dynamic simulation of the manipulator is finished by using the virtual prototype whoch was established by ADAMS.The relation curves of joint angle and joint torque are educed.The effect of the velocity of the manipulator's end is obtained to every joint torque,angular velocity,angular accelerati... |
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| Keywords: | 5-DOF manipulator dynamics model simulation |
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