毕业设计(论文)-机械臂的运动分析和模拟.docVIP

洛阳理工学院毕业设计论文 4 - 40 - 机械臂的运动分析和模拟 摘 要 本设计采用在基于Lisp编程语言的CAD下和MATLAB软件下进行的机械臂的程序化设计，将机械臂用CAD的形式绘制出来，并用Lisp语言进行编程将Auto CAD和MATLAB软件相互联系使用产生运动轨迹坐标数据和速度加速的曲线，便能清晰的将所设计机械臂的运动形式和运动轨迹的合理性表现出来，从而能够仅仅通过适当调整在Auto CAD中机械臂的各个构件或者运动轨迹就能得出设计者想要的最优化设计，这样能够在很大程度上减少我们人要花费很大精力进行大量复杂的工程计算，大大的提高了工作效率降低工作负担。因此采用此种方法不管是在工程的设计上还是在大量的技术计算上发挥着至关重要的作用 关键词：机械臂， 仿真软件， 模块化 Mechanical arms movement analysis and simulation ABSTRACT This design uses a Lisp-based programming language and MATLAB under the CAD software of the robot arm under the procedures of design, the robot arm using CAD Drawing out the form, and Lisp programming language and MATLAB will be Auto CAD software contact trajectory coordinates the use of data and accelerate the speed of the curve, can be designed to be a clear movement of the robot arm trajectory forms and demonstrated the reasonableness and thereby be able to adjust only through the appropriate arm of Auto CAD in the various components or trajectory will be able to come to designers want to optimize the design, to a large extent this can reduce our people have to spend a great deal of energy to carry out a large number of complex engineering calculations, a significant increase in the workload and reducing efficiency. Therefore to apply this method, whether in the design of the project or in the calculation of a large number of technology plays a pivotal role KEYWORDS: manipulator, simulation software, modular 目 录 目 录 TOC \o 1-3 \h \z \u HYPERLINK \l _Toc231022594 摘 要 PAGEREF _Toc231022594 \h - 1 - HYPERLINK \l _Toc231022595 ABSTRACT PAGEREF _Toc231022595 \h - 1 - HYPERLINK \l _Toc231022597 前 言 PAGEREF _Toc231022597 \h - 3 - HYPERLINK \l _Toc231022598 第一章 概 述 PAGEREF _Toc231022598 \h - 5 - HYPERLINK \l _Toc231022599 1.1 AutoCAD技术的实际应用领域与发展 PAGEREF _Toc231022599 \h - 5 - HYPERLINK \l _Toc231022600 1.2 Lisp语言简介及在仿真方法 PAGEREF _Toc231022600 \h - 7 - HYPERLINK \l _Toc231022601 1.3 Matlab简介及仿真应用 PAGEREF _Toc231022601 \h - 8 - HYPERLINK \l _Toc23102