【摘要】 针对水轮机修复专用机器人动力学问题,首先用Pro E建立专用机器人的仿真模型及坐标系,然后基于运动坐标系和达朗贝尔原理建立专用机器人动力学方程,最后结合ADAMS软件对机器人进行动力学仿真,以此来验证所得动力学方程的正确性和可行性更多还原

【Abstract】 The article mainly aims at the robot for hydraulic turbine repair.First of all,it establishes the Pro/E dynamics model of the robot and coordinating system,then gets the dynamic equation based on the kinetic coordinating system and the theory of Dalong Bell.And finally it performs dynamic emulation by means of ’ADAMS’ to confirm the correctness and feasibility of the dynamic equation.更多还原