四自由度小型抓取机器人设计及运动学动力学分析-机械电子工程专业论文.docxVIP

万方数据 万方数据 AbsttactTitle： Absttact Title： SCHEME DESIDN、 KINEMATICS、 DYNAMICSANAL-YS ＆ SlMULATlON OF FOUR DEGREE GRASHNG ROBOT Maior：MechanicaI and Electronic Engineering Name：Caiping WANG Signature ：∽lW p I Supervisor：Prof．WenHao SHI Signature № I 硷 Prof．Yumei HUANG sjgnat州单剑? Abstract 眦s paper describes the design of a small four degree grasping robot，Analysis the important parts of the robot by finite element analysis，and the analysis and Simulation on kinematics，dynamics，discusses the trajectory planning in robot joint space．m main work includes the following aspects： 1)According to the function requirements of four degrees grasping robot，designs the overall scheme and structure scheme of crawl robot，and analysis the critical components of the robot Include big ann，small arm，mounting plate and frame，on statical aspect，in different conditions，fmany using 3D soRware Solid Edge for virt21al assembly robot． 2)m scheme of crawl robot kinematics is analyzed，and the positive，inverse kinematics and Jacobian matrix，the working space of robot is calculated using the Monte Carlo method； the simulation of the robot motion function by using ADAMS software，Verify the correctness of the analytical solution and the feasibility of this scheme． 3)Focusing on the trajectory planning in joint space，with the help of Matlab robotics toolbox，set up robot simulation model，and has carried on the kinematics simulation．Using polynomial trajectory planning，choose 20 points in space，the robot motion simulation diagram drawn in accordance with the provisions of the path． 4)Established the grabbing robot dynamics model with second kinds of Lagrange method， derives the dynamic equation of robot．田1e combination of Maflab and Adams inverse problem of dynamics simulation,provides the basis for future control and trajectory planning． Key words：Small Grabbing Robot；Finite Element Method；Kinematics Analysis；Path Planning；Dynamic Analysis IH 西安理工大学硕士学位论文 N 目录目录 目录 目录 摘要 I Abstract III 目勇毛 ．1 1绪论 。1 1．