【摘要】 在水轮机修复专用机器人虚拟样机建立的基础上 ,采用D -H法建立了专用机器人的位姿方程 ,详细地进行了此专用机器人的位姿分析 ,并运用Matlab之Simulink进行了位姿分析的计算机仿真 ,得到了位姿分析的数值解。更多还原

【Abstract】 On the basis of establishing the virtual prototype of special purposed robot for hydraulic turbine repair, the positional posture equation of special purposed robot was established by adopting D-H method. The positional posture analysis of this special purposed robot has been carried out in detail. And the computer simulation of positional posture analysis was carried out by the utilization of Simulink in Matlab, thus obtained the numeric solution of positional posture analysis.更多还原