【摘要】 针对五自由度机械手,基于Lagrange方程建立了五自由度机械手的动力学模型,通过UG建立实体仿真模型,利用UG与ADAMS良好的接口直接导入ADAMS建立了虚拟样机,并且进行了动力学仿真,得出了各关节转角和关节力矩的关系曲线,分析了末端机械手速度对各关节力矩、角速度和角加速度的影响,这对提高机械手的设计性能、减少研发时间提供了帮助,并为机械手的控制分析打下了基础.更多还原

【Abstract】 Based on the Lagrange equation,the dynamic model of 5-DOF manipulators is obtained.Then the simulation model which set up in UG is exported to ADAMS.Thus,the virtual prototype is established.On the base of these,the dynamic simulation of the manipulator is finished by using the virtual prototype whoch was established by ADAMS.The relation curves of joint angle and joint torque are educed.The effect of the velocity of the manipulator’s end is obtained to every joint torque,angular velocity,angular acceleration.These study maybe afford some help for the design capabilities and reducing the study period.At the same time,the foundation are established for the control analysis of the manipulator.更多还原