基于虚拟样机的机械臂动力学建模与仿真  

Dynamic modeling simulation of mechanic arm based on virtual prototype

作　　者：王文玺[1] 肖世德[1] 孟文[1] 孟祥印[1] 张卫华[2] 

机构地区：[1]西南交通大学智能机电技术研究所,成都610031 [2]西南交通大学牵引动力国家重点实验室,成都610031

出　　处：《计算机应用研究》2009年第1期105-107,共3页Application Research of Computers

基　　金：国家"973"计划资助项目(2007CB714701)

摘　　要：基于多刚体动力学的原理,在分析机械臂的运动学和拉格朗日动力学方程的基础上求解其雅可比矩阵,并采用虚拟样机技术建立了机械臂的三维仿真模型,进行了动力学分析,获得了机械臂的动态特性。通过将获得的动态特性还原到模型中,建立了基于可视化技术的机械臂运动姿态的计算机动画,逼真地模拟了机械臂的整个运动过程,检验了机械臂动力学模型的相关性能。Based on principle of multi-rigid body kinematics and Lagrange dynamical equations of mechanic arm, it＇ s Jaccobi matrix had been solved and the 3D simulation model had been proposed to analyze the simulation of dynamics and obtained the dynamical characteristics by using virtual prototype. The computer animation of mechanic arm based on computation visualization technology was found, it had been proved by remapping the dynamic characteristics to the virtual model that the dynamic model and properties of the mechanic arm were reliable and efficient.

关 键 词：机械臂 动力学仿真 虚拟样机 计算机动画 

分 类 号：TP391.41[自动化与计算机技术—计算机应用技术]