一种七自由度仿人手臂动力学仿真分析  

The dynamics simulation analysis of a seven DOF anthropomorphic arm

作　　者：刘宇[1] 孙立宁[1] 

机构地区：[1]哈尔滨工业大学,哈尔滨150001

出　　处：《机械设计与制造》2004年第2期33-35,共3页Machinery Design & Manufacture

摘　　要：借助于adams动力学仿真工具,分析了一种新研制的七自由度仿人手臂的动力学问题,并以仿人手臂的自运动为例,求出了随动控制下的力矩响应。进而,利用三次样条插值的办法,得出了时间-力矩函数关系式,显然,这为力矩补偿前馈控制模式提供了数学模型。With adams dynamics simulation software, this paper analyzes the dynamics problem of a newly made seven DOF anthropomorphic arm, and as a example with the anthropomorphic arm' self- motion, a torque response with follow- up control is given. Farther, time- torque function is derived by the method of cubic spline interpolation. Obviously, the torque compensation feedforword control pattern adopted is provided with mathematic model.

关 键 词：七自由度 仿人手臂 动力学 仿真 随动控制 力矩补偿 机器人 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置] TH113[自动化与计算机技术—控制科学与工程]