基于ADAMS的关节型机器人正运动学分析与仿真  

Forward kinematical model and simulation of the joint robot

作　　者：张艳丽[1] 李景奎[1] 

机构地区：[1]沈阳航空工业学院机电工程学院,辽宁沈阳110136

出　　处：《沈阳航空工业学院学报》2009年第4期31-33,共3页Journal of Shenyang Institute of Aeronautical Engineering

摘　　要：对关节型机器人进行了正运动学分析,运用齐次变换矩阵方法建立机器人末端执行器中心相对于基座坐标中心的位姿变换矩阵,得到了机器人的运动学正解。运用ADAMS软件对关节型机器人进行了运动学仿真,实现了所设计的运动,得到了仿真结果。To establish the forward kinematical model, the joint robot was studied. Position and attitude transformation matrix is deducted to coordinate axis of the robot terminal actuator for coordinate axis of the foundation support, which is established by homogeneous transformation matrix. Then it gets forward kinematical solution. Kinematical simulation is made to the joint robot using ADAMS software. Not only it realizes the motion of design, but also it obtains the result of simulation.

关 键 词：机器人 运动学 变换矩阵 仿真 

分 类 号：TH112[机械工程—机械设计及理论]