【摘要】 利用UG建模软件对四自由度轴承转运机械手进行实体建模。采用笛卡尔坐标系,通过齐次坐标变换对四自由度轴承转运机械手建立运动学模型,并对轴承转运机械手进行正运动学和逆运动学求解。将机械手模型导入ADAMS中转化为虚拟样机进行运动学仿真,分析了四自由度轴承转运机械手仿真结果的运动规律曲线。仿真结果验证了四自由度轴承转运机械手运动学方程的正确性,并获得了机械手运动时施加在滚动滑车和悬臂横梁的作用力。更多还原

【Abstract】 The entity model for 4 degrees bearing transportable manipulator is established using UG software. The kinematics model of 4 degrees bearing transportable manipulator was established by the transformation of homogeneous coordinates,and the manipulator was solved by using positive and inverse kinematics in Cartesian coordinate. The entity model of manipulator was imported into ADAMS to convert a virtual prototype,then it was carried on kinematic simulation. The motion curves of simulation results for 4 degrees bearing transportable manipulator were analyzed. The simulation results validated the kinematic equations of 4 degrees bearing transportable manipulator correctly. At the same time,the forces which were applied to the rolling pulleys and the cantilever beams were obtained when manipulator was moving.更多还原