【摘要】 利用计算机仿真进行工业机械手运动学和结构分析,在Matlab中进行工业机械手的理论计算,并在Creo中建立三维装配模型和运动分析模型。以经典的Stanford 6自由度机械手和行星轮结构的机械手腕为实例,将理论计算结果和仿真实验结果进行比较,验证理论分析的正确性。仿真实验能适应复杂机械手运动学分析和结构设计,能有效地减少工业机械手相关实验对实验设备的依赖,降低实验成本并增加实验项目的灵活性。更多还原

【Abstract】 Use computer simulation of industrial manipulator kinematics and structure analysis,make theoretical calculation of the manipulator by using Matlab,build 3D assembly model and motion analysis model in Creo. Take classic Stanford Manipulator and mechanical wrist of planetary gear structure as an example,the theoretical results and simulation results are compared,verify theoretical analysis. The simulation can adapt to the complex manipulator kinematics analysis and structural design and effectively reduce industrial manipulator experiments depend on the kind of device,it can reduce experiments costs and increase the flexibility of the experiments project.更多还原