基于AP203的4R机械手运动学仿真软件研究  

Simulation Software of the 4R Manipulator in Kinesiology Based on AP203

作　　者：陶柯[1] 郭俊卿[1] 

机构地区：[1]沈阳工业大学研究生学院,辽宁沈阳110870

出　　处：《机电工程技术》2015年第12期106-109,155,共5页Mechanical & Electrical Engineering Technology

摘　　要：基于AP203标准,采用Direct X图形接口对图形文件进行图形重构,创建一个4R机械手运行学仿真软件。通过对某一4R机械手运动学的分析研究,验证仿真软件编写的正确性。分别采用二次和三次插值函数方式对各关节运动变量进行插值,实现4R机械手的轨迹规划,并对两种插值误差做了对比分析。Based on AP203 standard, this paper will use DirectX graphics interface for the reconstruction of the graphics file to create a 4R manipulator kinematic simulation software. Through the analysis of the kinematics of a 4R manipulator, the correctness of the simulation software is verified. Two times and three interpolation functions are used to carry out interpolation for each joint movement variable, and the trajectory planning of 4R manipulator is realized, and the comparison of two interpolation errors is made.

关 键 词：AP203 运动学 仿真 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]