摘要
针对机构学中常用的空间串联机构,用D-H齐次坐标变换建立了六自由度为代表的空间串联机构的运动空间方程,利用机械系统动力学自动分析软件ADAMS建立了二至六自由度空间串联机构的虚拟样机模型,基于虚拟样机技术,对二至六自由度空间串联机构运动空间进行了系统地仿真与分析,并给出了各运动空间无盲区的条件。
Aiming at spatial series mechanism used in the theory of mechanism,a motion space equation for a six- DOF is built by using the D- H homogeneous coordinate transformation. The virtual prototyping models are built from the two to six- DOF with the mechanical dynamics analysis software ADAMS. Based on the virtual prototyping technology,the motion spaces of spatial series mechanism from two to six- DOF are simulated and analyzed. The conditions for non- blind area are also given.
出处
《机械传动》
CSCD
北大核心
2015年第8期68-73,共6页
Journal of Mechanical Transmission
基金
西南科技大学制造过程测试技术省部共建教育部重点实验室团队项目(13zxzk09)
关键词
运动空间方程
ADAMS
虚拟样机技术
运动空间仿真
Motion space equation ADAMS Virtual prototyping technology Simulation and analysis of motion space
