【摘要】 根据微生物培养过程中需对培养皿抓取和分拣的工作要求,设计了一款5自由度小型机械臂,通过UG软件建立其三维模型。利用D-H法建立其连杆坐标系并作运动学分析。采用MATLAB建立机械臂数学模型并对其工作空间进行分析与验证。将该三维模型导入到ADAMS软件中进行运动学/动力学仿真分析,得出机械臂各关节角速度、力矩等参数曲线,仿真结果可为该机械臂的物理样机制造与取放皿操作实验提供参考。更多还原

【Abstract】 According to the requirement of picking and sorting Petri dishes in the process of microbial culture,a five degree of freedom small manipulator is designed,and its three-dimensional model is established by UG software. The D-H method is used to establish the linkage coordinate system and make the kinematic analysis. The mathematical model of the manipulator is established by using MATLAB and its workspace is analyzed and verified. The three dimensional model is imported into ADAMS software for motion/dynamic simulation analysis,and the parameters curves of the joint angular velocity and moment of the manipulator are obtained. The simulation results give the reference to the physical prototype manufacturing and dish-taking operation experiment of the manipulator.更多还原