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建立了矿用机器人的虚拟样机。利用ADAMS软件对三自由度机器人进行了三维建模过程,将机器人关节角度参数化,推导出各关节点和位置点的速度和加速度。并采用三次多项式对机器人进行了轨迹规划,利用ADAMS软件中内嵌的Step函数对运动轨迹进行了仿真分析。完成了ADAMS软件接口技术的转换。
The virtual prototype of mining robot is established. ADAMS software was used to model the three-degree-of-freedom robot three-dimensionally. The angle of robot joint was parameterized to derive the velocity and acceleration of each joint and position. The trajectory of the robot is planned by cubic polynomial. The trajectory of the robot is simulated by Step function embedded in ADAMS software. Completed ADAMS software interface technology conversion.