运用Catia对抓取机械手进行三维实体建模并装配,同时在其运动仿真模块DMU中应用Rule规则对机械手的运动实施控制,得到每个转动副的角速度曲线。高速运转的悬臂杆件将产生很大的惯性力,使杆件关节近端产生弯矩和扭矩,从而影响其运动速度和定位精度。运用Hyperworks软件对机械手腰部结构进行模态法频响分析,得出关键节点的位移响应曲线,为机械手动态特性的研究提供理论依据。 Catia is used to carry out three-dimensional solid modeling and assembly of the grasping robot, and at the same time, the rule of the rule is applied to the DMU of the motion simulation module to control the movement of the manipulator to obtain the angular velocity curve of each rotating pair. High-speed operation of the cantilever rod will have a great inertia force, so that the proximal end of the rod joints produce torque and torque, thus affecting the speed of its movement and positioning accuracy. By using Hyperworks software, modal frequency response analysis of the waist of manipulator was carried out to get the displacement response curve of the key nodes, which provided a theoretical basis for the research of manipulator dynamic characteristics.