多连杆锻造重载机械臂运行轨迹分析及算法研究
Kinematic calculation and simulation of Multi link forged heavy manipulator
师文涛 1马广龙 1何雪龙 1张旭 1安建军 1马建1
作者信息
- 1. 兰州兰石集团 兰石重工有限公司,兰州 甘肃 730300
- 折叠
摘要
针对多连杆机械臂在运动轨迹计算繁杂,解析计算难度较大的问题,提出采取复数矢量法进行计算,在MATLAB中求解机械臂的末端轨迹,并在ADAMS中对多连杆机械臂建立运动学和动力学模型,完成仿真分析,验证理论计算的轨迹.
Abstract
In response to the problem of complex motion trajectory calculation and high difficulty in analytical calculation of multi link manipulator,a complex vector method is proposed for calculation.The end trajectory of the manipulator is solved in MATLAB,and kinematic and dynamic models of the multi link manipulator are established in ADAMS to complete simulation analysis and verify the trajectory calculated theoretically.
关键词
重载机械臂/运动轨迹/复数矢量法/ADAMS/多连杆锻造Key words
Manipulator/Trajectory/Complex vector method/ADAMS引用本文复制引用
出版年
2024
NETL
NSTL
万方数据