| 机器人计算机辅助运动学设计与仿真系统 |
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| 引用本文： | 毕诸明,吴瑞柃,李小宁,王树国,蔡鹤皋.机器人计算机辅助运动学设计与仿真系统[J].工程图学学报,1997(Z1). |
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| 作者姓名： | 毕诸明 吴瑞柃 李小宁 王树国 蔡鹤皋 |
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| 作者单位： | 南京理工大学，哈尔滨工业大学 |
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| 摘 要： | 本文建立了一个机器人运动学计算机辅助设计与仿真系统，与同类型的其它系统比较，本文侧重于运动学设计与评价，它包括工作空间、姿态空间、奇异曲面、服务区域、灵活度、运动学综合与仿真等，提出了建立机器人数据库、奇异曲面计算机自动求解以及机器人运动学性能综合评价的新方法，然后介绍了系统中的一些主要模块。
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| 关 键 词： | 机器人，计算机辅助设计，运动学，设计系统 |
COMPUTER-AIDED ROBOTICS KINEMATIC DESIGN AND SIMULATION SYSTEM |
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| Bi Zhuming Wu Ruimin Li Xiaoning Nanjing University of Science and Technollogy Wang Shuguo,Cai Hegao Harbin Institute of Technology.COMPUTER-AIDED ROBOTICS KINEMATIC DESIGN AND SIMULATION SYSTEM[J].Journal of Engineering Graphics,1997(Z1). |
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| Authors: | Bi Zhuming Wu Ruimin Li Xiaoning Nanjing University of Science and Technollogy Wang Shuguo Cai Hegao Harbin Institute of Technology |
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| Affiliation: | Bi Zhuming Wu Ruimin Li Xiaoning Nanjing University of Science and Technollogy Wang Shuguo Cai Hegao Harbin Institute of Technology |
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| Abstract: | A computer aided robotics kinematics design and simulation system is presented Compared with the existing systems, it puts emphasis on the kinematics design and assessment of robots It involves the topics of workspace, posture workspace, singular surface, service region, dexterity kinematic synthesis and simulation, etc Some new methods are provided to develop robotics library, solve singular surface automatically, and perform the global assessment of robotics kinematic properties, etc, Also, introduced are modules such as demonstrating workspace, singular surface, service region, dexterity and kinematics simulation |
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| Keywords: | robot CAD kinematics design system |
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