| 一种搬运机械手的运动学仿真研究 |
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| 引用本文： | 席思文,李伟光,罗玮韬,朱火美.一种搬运机械手的运动学仿真研究[J].机电工程技术,2009,38(2):21-24. |
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| 作者姓名： | 席思文 李伟光 罗玮韬 朱火美 |
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| 作者单位： | 华南理工大学机械与汽车工程学院,广东广州,510640 |
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| 摘 要： | 根据机械手自由度数目，对其进行了机构设计，采用Denavit-Hartenberg方法，建立了机械手的运动学方程，并应用MAT-LAB/SimMechanics对其进行了运动学仿真分析，确定了机械手系统各关节在任意时刻的角位移、角速度和角加速度，以及末端执行器的运行轨迹，为机械手的设计和控制提供了重要依据。
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| 关 键 词： | 机械手 运动学 仿真 SimMechanics |
Study on the Simulation of Motion for Conveying Manipulator |
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| XI Si-wen,LI Wei-guang,LUO Wei-tao,ZHU Huo-mei.Study on the Simulation of Motion for Conveying Manipulator[J].Mechanical & Electrical Engineering Technology,2009,38(2):21-24. |
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| Authors: | XI Si-wen LI Wei-guang LUO Wei-tao ZHU Huo-mei |
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| Affiliation: | School of Mechanical & Automotive Engineering;South China Univ.of Tech.;Guangzhou 510640;China |
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| Abstract: | Based on the degree of the manipulator,the parameters of the manipulator were designed,and the kinematics equation of the manipulator was set up by the Denavit-Hartenberg method.Then MATLAB/SimMechanics is used to simulate and make sure of the joints'angle,velocity,acceleration at any time and the movement trajectory of the End-effector in the manipulator system.It offered important foundation for the design and control of the manipulator. |
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| Keywords: | SimMechanics |
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