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FROG-LEG型真空机械手的动力学建模与仿真
Alternative TitleDynamics Modeling and Simulation of FROG-LEG Vacuum Manipulator
黄玉钏; 曲道奎; 徐方
Department其他
Source Publication中国机械工程
ISSN1004-132X
2014
Volume25Issue:4Pages:471-475, 490
Indexed ByCSCD
CSCD IDCSCD:5063630
Contribution Rank1
Funding Organization国家重大科技专项(2009ZX02012)
Keyword真空机械手 运动学 牛顿-欧拉法 动力学仿真
Abstract根据FROG-LEG型真空机械手的结构特点,提出了其等效的串联结构运动学模型,并求出了运动学的正反解。将FROG-LEG型真空机械手动力学问题分为水平和垂直两个方向进行讨论,用牛顿-欧拉法求出了两个方向的动力学方程。最后利用MATLAB机器人工具箱对机械手的运动学和动力学特性进行了仿真实验。
Other AbstractAccording to characteristic structure of a FROG-LEG vacuum manipulator, this paper presented the kinematics model of the vacuum manipulator’s equivalent series structure, then solved the forward and inverse kinematics. After that the dynamics in the direction of level and upright was discussed respectively, using Newton-Euler method to give dynamics equation in two directions. Lastly, robot tool of MATLAB was utilized to simulate the kinematics and dynamics of FROG-LEG vacuum manipulator.
Language中文
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/15050
Collection智能产线与系统研究室
Affiliation1.中科院沈阳自动化研究所机器人国家重点实验室
2.中国科学院研究生院
3.沈阳新松机器人自动化股份有限公司
Recommended Citation
GB/T 7714
黄玉钏,曲道奎,徐方. FROG-LEG型真空机械手的动力学建模与仿真[J]. 中国机械工程,2014,25(4):471-475, 490.
APA 黄玉钏,曲道奎,&徐方.(2014).FROG-LEG型真空机械手的动力学建模与仿真.中国机械工程,25(4),471-475, 490.
MLA 黄玉钏,et al."FROG-LEG型真空机械手的动力学建模与仿真".中国机械工程 25.4(2014):471-475, 490.
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