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Three-DOF manipulator kinematics and dynamics analysis and simulation
其他题名三自由度机械臂运动学与动力学分析及仿真
Shi, Heng(师恒); Liang, Yan-Bing(梁雁冰)
作者部门光电测量技术实验室
2014-10-28
发表期刊Shanghai Jiaotong Daxue Xuebao/Journal of Shanghai Jiaotong University
ISSN10062467
卷号48期号:28-32
产权排序1
摘要

A 3-DOF manipulator is modeled in ADAMS. In MATLAB, inverse kinematics is solved by geometric method. The desired trajectory, angular velocity and angular acceleration of each joint are obtained by the high order polynomial interpolation to complete the kinematics planning of the manipulator. Kinematics equations were got by D-H method and dynamics equations were obtained by Lagrangian method according to angular variables, velocity and acceleration. In ADAMS, kinematics and dynamics simulation on the model are made respectively. Simulation results are consistent with theoretical calculations to verify the correctness of each other, which can provide an effective basis for the control of the manipulator and the selection of the appropriate drive system. ©, 2014, Shanghai Jiao Tong University. All right reserved.

 

收录类别EI
语种中文
文献类型期刊论文
条目标识符http://ir.opt.ac.cn/handle/181661/30806
专题光电测量技术实验室
通讯作者Shi, Heng(师恒)
作者单位中国科学院西安光学精密机械研究所
第一作者单位中国科学院西安光学精密机械研究所
通讯作者单位中国科学院西安光学精密机械研究所
推荐引用方式
GB/T 7714
Shi, Heng,Liang, Yan-Bing. Three-DOF manipulator kinematics and dynamics analysis and simulation[J]. Shanghai Jiaotong Daxue Xuebao/Journal of Shanghai Jiaotong University,2014,48(28-32).
APA Shi, Heng,&Liang, Yan-Bing.(2014).Three-DOF manipulator kinematics and dynamics analysis and simulation.Shanghai Jiaotong Daxue Xuebao/Journal of Shanghai Jiaotong University,48(28-32).
MLA Shi, Heng,et al."Three-DOF manipulator kinematics and dynamics analysis and simulation".Shanghai Jiaotong Daxue Xuebao/Journal of Shanghai Jiaotong University 48.28-32(2014).
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