| 基于RecurDyn的4自由度液压机器人的动力学建模研究 |
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| 引用本文： | 侯敬巍.基于RecurDyn的4自由度液压机器人的动力学建模研究[J].起重运输机械,2011(3):50-53. |
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| 作者姓名： | 侯敬巍 |
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| 作者单位： | 吉林大学,长春,130025 |
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| 摘 要： | 为了全面分析4自由度液压机器人的综合性能,提出了基于数字化虚拟样机RecurDyn的仿真方法。以1台试验性4自由度液压机器人为对象,系统研究机器人的运动学特征。在RecurDyn中导入由CATIA建立的几何模型进行动力学的仿真分析,并通过Matlab对运动学和动力学进行数学建模计算来验证RecurDyn的正确性。该研究方法从系统的角度对4自由度液压机器人的性能进行了综合评估,提高了产品的开发速度和精度,降低了开发成本。
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| 关 键 词： | 机器人 RecurDyn 动力学建模 Matlab |
Dynamics modeling study of hydraulic robot with 4 degrees of freedombased on RecurDyn |
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| Hou Jingwei.Dynamics modeling study of hydraulic robot with 4 degrees of freedombased on RecurDyn[J].Hoisting and Conveying Machinery,2011(3):50-53. |
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| Authors: | Hou Jingwei |
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| Affiliation: | Hou Jingwei |
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| Abstract: | In order to comprehensively analyze the overall performance of the 4 DOF(degree of freedom) hydraulic robots,the paper proposes the simulation method based on digital virtual prototype RecurDyn,and systematically studies robot kinematics features by taking one experimental 4 DOF hydraulic robot as an object.The paper conducts dynamics simulation analysis via importing the geometric model established by CATIA into RecurDyn,and verifies the correctness of RecurDyn through the kinematics and dynamics mathemati... |
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| Keywords: | robot RecurDyn dynamics modeling Matlab |
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