| 五自由度机械臂的运动学分析 |
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| 引用本文： | 陈亚,沈晨. 五自由度机械臂的运动学分析[J]. 北京石油化工学院学报, 2013, 21(1): 25-28 |
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| 作者姓名： | 陈亚 沈晨 |
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| 作者单位： | 北京石油化工学院机电工程系,北京,102617;北京石油化工学院机电工程系,北京,102617 |
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| 摘 要： | 为分析机械臂的运动情况,建立基于D-H法机械臂正运动学模型并进行仿真,得到其灵活工作域。进一步采用ADAMS进行逆运动学分析,代替代数反解计算,可方便获得指定路径对应的各关节转角曲线。结果表明基于Matlab和ADAMS的运动仿真分析可为实际物理样机的研制提供技术依据。
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| 关 键 词： | 机械臂 运动仿真 D-H法 ADAMS |
Kinematics analysis of 5DOF Manipulator |
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| Chen Ya,Shen Chen. Kinematics analysis of 5DOF Manipulator[J]. Journal of Beijing Institute of Petro-Chemical Technology, 2013, 21(1): 25-28 |
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| Authors: | Chen Ya Shen Chen |
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| Affiliation: | (School of mechanical engineering,Beijing Institute of Petro-chemical Technology,Beijing 102617,China) |
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| Abstract: | To analyze the movement of a 5DOF manipulator, a D-H Method--based on direct ki- nematics model was built. By adopting the method, the workspace of the manipulator is obtained. Moreover, a further study on the inverse kinematic problems was conducted by using the simulation software ADAMS instead of the conventional matrix calculation. Thereafter, joint variables, according to the specific trajectory, are calculated in this analysis. In conclusion, the results, based on Matlab and ADAMS simulation, provide reference for the development of physical prototype. |
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| Keywords: | manipulator motion simulation D-H method ADAMS |
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