论文部分内容阅读
设计完成了具有两个自由度的闭链触觉再现平面机构 ,对该机构进行了运动学和静力学分析 ,得到了其位移求解的正反向运动方程和电机输出力矩的计算方法 ,为选择电机提供了依据。以虚拟样机技术为基础 ,综合应用三维实体造型软件 UG和机械系统动力学分析软件 ADAMS建立了所设计的触觉机构的虚拟样机 ,通过仿真分析 ,验证了所设计机构的实用性和理论推导结论的正确性。
The closed-loop haptic rendering planar mechanism with two degrees of freedom is designed and completed. The kinematics and statics analysis of this mechanism are completed. The forward and backward equations of motion and the method of calculating the output torque of the motor are obtained. Provided the basis. Based on the virtual prototyping technology, a virtual prototype of the designed tactile mechanism is established by comprehensively applying three-dimensional solid modeling software UG and ADAMS of mechanical system dynamics analysis software. The simulation and analysis verify the practicability of the designed mechanism and the theoretical derivation conclusion Correctness