力反馈设备运动学分析及轨迹规划

发布时间：2018-05-06 07:39

本文选题：力反馈设备 + 运动学　；参考：《机床与液压》2017年03期

【摘要】：针对于人体的复杂组成,要求力反馈设备必须具有精确稳定的工作性能。介绍了设备的构件组成和工作方式,运用D-H参数法建立每一个杆件的坐标系,得到了相邻杆件之间的齐次变换矩阵。经过运动学分析,得到了力反馈设备运动学特征方程。利用ADAMS进行设备的轨迹规划,理论分析和实际仿真结果表明该力反馈设备结构具有良好的运动特性。
[Abstract]:In view of the complex composition of human body, force feedback equipment must have accurate and stable working performance. The component composition and working mode of the equipment are introduced. The coordinate system of each member is established by using D-H parameter method, and the homogeneous transformation matrix between adjacent members is obtained. The kinematics characteristic equation of force feedback equipment is obtained by kinematics analysis. The trajectory planning of the equipment is carried out by using ADAMS. The theoretical analysis and the actual simulation results show that the structure of the force feedback device has good motion characteristics.
【作者单位】：南昌大学江西省机智能信息系统重点实验室;
【基金】：国家863计划资助项目(2013AA013804)
【分类号】：TH777

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