机构地区: 重庆大学机械工程学院机械传动国家重点实验室
出 处: 《现代制造工程》 2009年第10期142-145,共4页
摘 要: 介绍写字机器人的主要机械结构及参数,按Denavit-Hartenberg(D-H)方法建立操作臂运动学方程,求出笔端在基坐标系的位姿与关节转动变量之间的关系式。在此基础上,利用MATLAB中的SimMechanics工具箱结合Simulink软件包,建立写字机器人运动学仿真模型。仿真实验表明,该模型可以方便地得到笔端运动轨迹及关节转角值,并可以直观地观察机器人的动态运动过程,有利于机器人的分析和优化设计。 Shortly introduce the main shell structure and parameter of the robotic ;the homogeneous transformation equation of manipulator is created according to the Denavit-Hartenberg method, then the relation of the position of the end of pen in reference frame and joint turn variable is educed, the simulation model is established based on SimMechanics toolbox of MATLAB combining with Simulink environment. The track and rotating parameters of joint can be easily obtained according to the simulation model. The movement process can be seen directly, analysis and optimized design can be done based on it.
领 域: [自动化与计算机技术] [自动化与计算机技术]