作　　者： ; ; ; ;

机构地区： 湖南大学机械与运载工程学院

出　　处： 《计算机仿真》 2010年第2期166-169,179,共5页

摘　　要： 针对研制一种微细零件的CNC加工装备,提出了能快速反应的移动机械手的总体方案,实现仿人动作。基于多体系统运动学理论和齐次变换矩阵,建立了机械手的运动学模型,得出了机械手末端的向量方程,并在此基础上利用蒙特卡洛法求解上下料机械手的工作空间。对机械手的结构进行了适当简化后,将所建立的三维模型导入到Adams软件中进行运动学仿真,得到了机械手上任意一点的位移、速度和受力等方面的分析曲线,对机械手控制的实现及物理样机的制作奠定了基础。 Based on the application of small part CNC machining equipment, A design scheme of a mobile manipulator which can make a rapid response is proposed. The kinetic mathematical model is established based on the theory of Multi axis kinematics and homogeneous transform matrices, and then the equation of the end of manipulator is gained. The working space of the manipulator is gained using the Monte Carlo method in this paper. After the structure of the manipulator is properly simplified, the three - dimensional model is imported into Adams, and kinetic simulation is carried out, then the curve of displacement, velocity, force, and other aspects of each point on the manipulator is gained, which can be referred by the physical prototype of the manipulator and its control.

关 键 词： 机械手 运动学仿真 工作空间

领　　域： [自动化与计算机技术] [自动化与计算机技术]