安永辰, 王兴海. “天龙一号”机器人的运动学和动力学仿真研究[J]. 机器人, 1987, 9(6): 8-14.
引用本文: 安永辰, 王兴海. “天龙一号”机器人的运动学和动力学仿真研究[J]. 机器人, 1987, 9(6): 8-14.
AN Yongchen, WANG Xinghai. Kinematic and Dynamic Simulation of TL-1 Robot[J]. ROBOT, 1987, 9(6): 8-14.
Citation: AN Yongchen, WANG Xinghai. Kinematic and Dynamic Simulation of TL-1 Robot[J]. ROBOT, 1987, 9(6): 8-14.

“天龙一号”机器人的运动学和动力学仿真研究

Kinematic and Dynamic Simulation of TL-1 Robot

  • 摘要: 本文对“天龙一号”五自由度弧焊机器人的运动学和动力学进行了数字仿真研究.文中采用齐次变换矩阵法详细推导了“天龙一号”机器人的运动学方程和求解逆问题的公式,给出机器人运动学和动力学数字仿真的算法及递推公式.最后,通过举例给出了“天龙一号”机器人数字仿真结果.这些仿真结果对评价机器人的性能及校验机器人系统的刚度、强度、电机的功率和转矩、极限速度和抓重都有重要意义.

     

    Abstract: In this paper the kinematic and dynamic simulation of the TL-1 are welding ro-bot with five degrees of freedom is presented.By homogeneous transformations methodthe kinematic equations and formulae forthe inverse problem of the TL-1 robot arederived,and the algorithm for the kinematic and dynamic simulation of the TL-1 robot is presented.Finally we give an example with digital simulation results,whichcan be used to evaluate the robot performances and potential capability and to checkthe stiffness,strength power consumption and driving torques of the motors,maxi-mum velocity and limiting load of the robot.

     

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