基于Proe的六自由度机械手的运动轨迹规划与仿真  

Trajectory Planning and Simulation of Six Degree of Freedom Manipulator Based on Proe

作　　者：刘旭升 王娇 马乐萍 LIU Xusheng;WANG Jiao;MA Leping(Shanxi Pharmaceutical Career Academy,Taiyuan 030000;Taiyuan University of Technology,Taiyuan 030024)

机构地区：[1]山西药科职业学院,太原030000 [2]太原理工大学,太原030024

出　　处：《现代制造技术与装备》2018年第11期83-83,85,共2页Modern Manufacturing Technology and Equipment

摘　　要：六自由度机械手被广泛应用于工业以及农业领域中,根据不同要求,六自由度机械手会表现出不同的特征。在机械手的设计中,自由度是非常关键的一项参数,自由度越高,表明机械手灵活性越大,应用范围也就越广,相对应的机械手结构也就越复杂。基于Proe三维建模软件建立一种六自由度机械手模型,根据动力学分析软件对该机械手进行运动轨迹仿真研究。Six degree of freedom robots are widely used in industrial and agricultural fields,and six degree of freedom robots exhibit different characteristics depending on different requirements.In the design of the manipulator,the degree of freedom is a very important parameter.The higher the degree of freedom,the greater the flexibility of the manipulator,the wider the scope of application,and the more complicated the structure of the corresponding manipulator.Based on Proe 3D modeling software,a six degree of freedom manipulator model was established,and the trajectory simulation of the manipulator was carried out according to the dynamic analysis software.

关 键 词：PROE 六自由度机械手 运动轨迹 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]