摘要
对三自由度机械手工作行为进行模拟分析,按照运动规划正解法的设计思路,分析执行器的工作模式,计算在驱动平稳工作状况下各自执行器的响应及其特性;通过初步施加驱动,实现将机械手的极限作业范围进行测绘,计算当前状况下执行器末端的运动特性。
Simulation analysis of the three- degree- of-freedom manipulator's work behavior is conducted in this article, according to design ideas of the motion planning based on approach of direct problem, the work behavior of the actuator is analyzed, and the response and characteristics of each actuator under steady working condition are calculated; through applying the drive, surveying and mapping to the limit operating range of the manipulator could be realized in order to calculate the motion characteristics of the manipulator.
作者
杨胜林
李江鹏
杨涛
赵三星
YANG Sheng-lin;LI Jiang-peng;YANG Tao;ZHAO San-xing
出处
《机械研究与应用》
2016年第3期130-132,共3页
Mechanical Research & Application
关键词
运动轨迹
响应
正解法
trajectory
response
approach of direct problem
