四自由度绿篱修剪机器人运动学仿真研究  

The Kinematics Simulation of the Forestry Special Robot for the Hedge Pruning

作　　者：陈芳芳 吴小锋 

机构地区：[1]南京高等职业技术学校电气工程系,江苏南京210019

出　　处：《机电工程技术》2009年第10期30-31,59,共3页Mechanical & Electrical Engineering Technology

摘　　要：通过从MATLAB/SIMULINK中得到的各关节角变化曲线,在ADAMS/VIEW中成功驱动了该机器人实现所要实现的轨迹,并通过仿真验证了机器人动力学方程的正确性,确定了各关节电机参数。This paper built the simple model of my robot in the Pro/Engineer software,and transmitted it into the ADAMS/VIEW by using the interface software MACHANISM/Pro.It defined the body and set the joints in the MECHANISM/Pro before the robot model was transmitted into ADAMS/VIEW,and set the motion in the ADAMS.According to the result of the simulation,it can get many data for the design of the real robot.

关 键 词：运动学 动力学 ADAMS PRO/E 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]