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Alternative TitleDesign and Kinematics Simulation of Manipulator for an Anthropomorphic Mannequin
程晓鼎; 南琳
Source Publication机械设计与制造
Contribution Rank1
Funding Organization国家自然科学基金(61174164,61003208,61105067)
Keyword模特机器人 机械臂 Matlab/simmechanics 运动学仿真
Other AbstractA manipulator has designed for a shape-changing anthropomorphic mannequin. The manipulator can adjust the length of arm and take some typical fitting movement,enhancing the fitting effectiveness of anthropomorphic mannequin. The design basis and final structure of manipulator are elaborated and kinematics equation is established using D-H method. The 3D model is created by SolidWorks and the kinematics simulation model is established by importing the 3D model into MATLAB/SimMechanics design toolboxes. The workspace of manipulator is analyzed by numerical methods and SimMechanics model. The simulation result proves that solving workspace by SimMechanics model is accurate and fast. The typical fitting action is planned and the simulation result of ending point’s trajectory illuminates the manipulator moves as expected and achieves the anticipant effect.
Document Type期刊论文
Recommended Citation
GB/T 7714
程晓鼎,南琳. 模特机器人的机械臂设计及运动学仿真[J]. 机械设计与制造,2013(11):193-196.
APA 程晓鼎,&南琳.(2013).模特机器人的机械臂设计及运动学仿真.机械设计与制造(11),193-196.
MLA 程晓鼎,et al."模特机器人的机械臂设计及运动学仿真".机械设计与制造 .11(2013):193-196.
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