六自由度机械手结构及运动仿真研究  

Structural and Kinematics Simulation Research on Manipulator with Six Degrees of Freedom

作　　者：许超[1] 郑艳龙[1] 

机构地区：[1]辽宁大学物理学院,辽宁沈阳110036

出　　处：《辽宁大学学报（自然科学版）》2016年第4期331-334,共4页Journal of Liaoning University：Natural Sciences Edition

摘　　要：机械手是工业机器人的重要组成部分,是未来工业自动化的主要研究方向.针对现实工况下的搬运问题,通过SolidWorks软件实现机械手机构模型建立、运动路径仿真、舵机力矩计算等工作,并建立机械手零件模型库,最终仿真完成六自由度搬运机械手的设计.仿真结果显示六自由度机械手结构刚度高,位姿调整灵巧,可实现现实工况下的搬运任务.Manipulator with six degrees of freedom is an important part of industrial robots. It is the main research direction of industrial automation in the future. According to the real situation of handing problems, tasks such as machine constitutive modeling, motion simulation, steering torque calculation etc. have been realized through the SolidWorks software. The part model base of manipulator with six degrees of freedom has been built, and finally completed the design of manipulator with six degrees of freedom. The simulation results show that the structure is of high rigidity, the position and posture is adjustment dexterity,it can complete handing tasks in real situations.

关 键 词：机械手 自由度 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]