The Analysis and Research of Hedge Trimmer Robotics about Manipulator Kinematics

资源类型: 资源大小: 文档分类:工业技术 上传者:董莺

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【标题】The Analysis and Research of Hedge Trimmer Robotics about Manipulator Kinematics

【作者】 Song Liu  Hui Guo  Wanzhang Yang 

【出版日期】2013-11-01

【摘要】According to the analysis theory of the four freedom degree about the robot's mechanical arm, in this paper established the four freedom degree of the mechanical arm forward and inverse kinematics equation, which was based on the coordinate system, giving the relationship of the spatial location and gesture between movement member and end executor. Besides, it could solve its Jacobian matrix, and provide theoretical basis to achieve the velocity control program on the end of mechanical arm in Cartesian space. The application of ADAMS had carried out the simulation, analysed the location and movement relations among the mechanical structure, which provided significant data for the actual hedge trimming operation.

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