本文選題：力反饋設(shè)備 + 運(yùn)動(dòng)學(xué)�。� 參考：《機(jī)床與液壓》2017年03期

【摘要】：針對(duì)于人體的復(fù)雜組成,要求力反饋設(shè)備必須具有精確穩(wěn)定的工作性能。介紹了設(shè)備的構(gòu)件組成和工作方式,運(yùn)用D-H參數(shù)法建立每一個(gè)桿件的坐標(biāo)系,得到了相鄰桿件之間的齊次變換矩陣。經(jīng)過(guò)運(yùn)動(dòng)學(xué)分析,得到了力反饋設(shè)備運(yùn)動(dòng)學(xué)特征方程。利用ADAMS進(jìn)行設(shè)備的軌跡規(guī)劃,理論分析和實(shí)際仿真結(jié)果表明該力反饋設(shè)備結(jié)構(gòu)具有良好的運(yùn)動(dòng)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.
【作者單位】： 南昌大學(xué)江西省機(jī)智能信息系統(tǒng)重點(diǎn)實(shí)驗(yàn)室;
【基金】：國(guó)家863計(jì)劃資助項(xiàng)目(2013AA013804)
【分類(lèi)號(hào)】：TH777

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