机器人臂运动分析的计算机模拟逼近法

提出用计算机模拟逼近法求解机器人臂平面多自由度机构的速度和加速度的方法，采用CAD的几何约束、尺寸约束、尺寸方程和尺寸驱动技术，构造一些典型的机器人臂多自由度平面连杆模拟机构，再用两个相同且彼此靠近的多自由度机器人臂模拟机构，构造速度模拟机构，求解各个机构输出杆的速度，最后用两个相同且彼此靠近的多自由度平面连杆速度模拟机构，构造加速度模拟机构，求解机构的输出杆的加速度。计算机模拟结果与解析法的结果比较表明，提出的方法不仅具有简单、快捷、直观、求解精度高的优点，而且可以完成复杂机构的运动分析，为多自由度机构运动分析提供了更有效的工具。

Computer Simulation Approximate Approach for Solving Velocity and Acceleration of Robot Arm

A computer simulation approximate approach for solving velocity and acceleration of robot arm with multi-DOF is put forward. By using the geometric constraint, the dimension constraint, the dimension equation and the dimension driving techniques of CAD, some typical planarsimulation mechanisms of robot arm with multi-DOF are created. After that, the velocity simulation mechanism and the acceleration planar simulation mechanism of robot arm with multi-DOF are created, and the velocity and acceleration of robot arm are solved. Comparing the result of computer simulation and analytics, it is shown that the computer approximate simulation approach is fairly quick, straightforward and advantages of accuracy. It also can be used to conducted kinematic analysis of complex mechanisms with muhi-DOF.