摘要
工作空间是衡量机器人工作能力的一个重要运动学标准。文中运用MATLAB中的Sim Mechanics工具箱对其工作空间进行建模和动态分析。建立三自由度开链机构工业机器人机械手臂数学模型,利用正向运动学对其进行分析,然后将模型作参数化处理,求得的解具有实用性和代表性,对其精密设计和计算具有普遍意义。
Workspace is one of the most important kinematics criterion to evaluate the ability of the robot. SimMechanics Toolbox in the MATLAB is applied to modeling and dynamic simulation of the workspace. Kinematics model of 3-D of open chain industrial robotic manipulator is established and analyzed based on direct kinematics. The model is parameterized; its solution has representativeness and universal applicability in ingenuity and computer.
出处
《机械工程师》
2015年第8期105-106,共2页
Mechanical Engineer
