摘要
在阐述救援机器人操作臂机构的基础上，建立了操作臂的拉格朗日动力方程。使用ADAMS软件对其进行虚拟样机动态仿真，得到操作臂在作业过程中各关节驱动力矩的变化规律，为操作臂的设计提供理论依据。
This paper introduces the mechanism of the rescue robot manipulator and establishes its Lagrange dynamical equations. Then it uses ADAMS to simulates the virtual prototype dynamics of manipulator and obtains the changing rules of driving moments of its joints. The theoretical foundation is provided for design of manipulator.
出处
《机械制造与自动化》
2010年第2期114-116,共3页
Machine Building & Automation
关键词
救援机器人
操作臂
动态仿真
rescue robot
manipulator
dynamics simulation
