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模特机器人的机械臂设计及运动学仿真
  • ISSN号：1001-3997
  • 期刊名称：《机械设计与制造》
  • 时间：0
  • 分类：TH16[机械工程—机械制造及自动化] TP242.2[自动化与计算机技术—控制科学与工程;自动化与计算机技术—检测技术与自动化装置]
  • 作者机构：[1]中国科学院沈阳自动化研究所,辽宁沈阳110016, [2]中国科学院大学,北京100049
  • 相关基金：国家自然科学基金（61174164,61003208,61105067）
作者： 程晓鼎[1,2], 南琳[1]
关键词： 模特机器人, 机械臂, MATLAB, SIMMECHANICS, 运动学仿真, Anthropomorphic Mannequin, Manipulator, MATLAB/SimMechanics, Kinematics Simulation
中文摘要：

设计了一种用于可变形模特机器人的机械臂,它可以改变手臂长度,做一些典型的试衣动作,增强了模特机器人的试衣效果.介绍了机械臂的设计依据以及最终结构,运用D-H法建立了机械臂的运动学方程.通过SolidWorks建立机械臂的三维模型,并将三维模型导入MATLAB/SimMechanics建立机械臂的运动学仿真模型.用数值法和SimMechanics模型法分析了其工作空间,对比仿真结果证明用SimMechanics模型求工作空间是准确和快速的.对典型试衣动作进行了规划,机械臂末端运动轨迹的仿真结果说明机械臂能够按照预期运动,达到了预期效果.

英文摘要：

A manipulator has designed for a shape-changing anthropomorphic mannequin.The manipulator can adjust the length of arm and take some typical fitting movement,enhancing the fitting effectiveness of anthropomorphic mannequin.The design basis and final structure of manipulator are elaborated and kinematics equation is established using D-H method.The 3D model is created by SolidWorks and the kinematics simulation model is established by importing the 3D model into MATLAB/SimMechanics desigt toolboxes.The workspace of manipulator is analyzed by numerical methods and SimMechanics model The simulation result proves that solving workspace by SimMechanics model is accurate and fast.The typical fitting action is planned and the simulation result of ending point＇s trajectory illuminates the manipulator moves as expected and achieves the anticipant effect.

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期刊信息
  • 《机械设计与制造》
  • 北大核心期刊（2011版）
  • 主管单位:中国教育部
  • 主办单位:辽宁省机械研究院 东北大学
  • 主编：张义民
  • 地址：沈阳市皇姑区北陵大街56号
  • 邮编：110032
  • 邮箱：mdm1963@163.com
  • 电话：024-86899120 86894543
  • 国际标准刊号：ISSN：1001-3997
  • 国内统一刊号：ISSN：21-1140/TH
  • 邮发代号:
  • 获奖情况:
  • 中文核心期刊,中国科技核心期刊,辽宁省优秀科技期刊一等奖,中国期刊方阵“双效”期刊
  • 国内外数据库收录:
  • 中国中国科技核心期刊,中国北大核心期刊（2004版）,中国北大核心期刊（2008版）,中国北大核心期刊（2011版）,中国北大核心期刊（2014版）
  • 被引量:30635