| 基于ADAMS和Pro/E的4自由度串并联机器人运动学对比仿真分析 |
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| 引用本文： | 罗建国,何茂艳,陆震,黄真. 基于ADAMS和Pro/E的4自由度串并联机器人运动学对比仿真分析[J]. 机械设计, 2009, 26(8) |
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| 作者姓名： | 罗建国 何茂艳 陆震 黄真 |
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| 作者单位： | 华北科技学院,机电工程系,北京,101601;北京航空航天大学,电气工程及自动化学院,北京,100083;燕山大学,机器人研究中心,河北,秦皇岛,066004 |
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| 摘 要： | 为构建一新型4自由度串并联机器人结构模型,应用ADAMS和Pro/E软件平台分别对其进行了运动学仿真,通过对已经建立的实体模型和关节运动控制变量的定义,运动轨迹的选取,以及合理选择运动学求解控制算法,最终可以获取动画、平面图形、具体数据等仿真分析结果,通过对比两种仿真的结果,可以验证两种仿真方法的正确性.
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| 关 键 词： | 串并联 机器人 自由度 仿真 对比分析 |
Kinematics contrast simulative analysis of 4 DOF serial-parallel robot based on ADAMS and Pro/E |
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| LUO Jian-guo,HE Mao-yan,LU Zhen,HUANG Zhen. Kinematics contrast simulative analysis of 4 DOF serial-parallel robot based on ADAMS and Pro/E[J]. Journal of Machine Design, 2009, 26(8) |
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| Authors: | LUO Jian-guo HE Mao-yan LU Zhen HUANG Zhen |
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| Affiliation: | 1.Mechanical and Electrical Engineering department;North China Institute of Science and Technology;Beijing 101601;China;2.School of Electrical Engineering and Automation;Beihang University;Beijing 100083;3.Research Center of Robotics;Yanshan University;Qinhuangdao 066004;China |
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| Abstract: | For the sake of establishing the structural model of a kind of new typed 4 DOF serial-parallel robot,kinematic simulations were respectively carried out on the model by applying platforms of ADAMS and Pro/E software.By means of defining on the already established entity model and the controlling variables of joint movement,through the selection of motion track and reasonably choosing the controlling algorithm of the kinematic solution,thus the result of simulative analysis of animation,planar graph and conc... |
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| Keywords: | serial-parallel robot degree of freedom simulation contrastive analysis |
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