MATLAB/Simscape在機械手仿真教學中的應用
打開文本圖片集
摘 要 針對機械手教學過程中的動力學問題,以一個三桿機械手為例,利用Simscape模塊庫進行仿真教學建模,并詳細介紹其基本組成模塊,根據(jù)機械手的結(jié)構(gòu)簡圖可直接建立物理仿真模型,通過仿真結(jié)果可直接觀察到各桿臂的運動軌跡及各關(guān)節(jié)的運動參數(shù)。
關(guān)鍵詞 MATLAB;Simscape;機械手;仿真試驗
中圖分類號:G642.423 文獻標識碼:B
文章編號:1671-489X(2022)02-0041-03
Application of MATLAB/Simscape in Manipulator Simu-lation Teaching//QIN Zhiying, ZHAO Jifu, ZHAO Yuejing, LU Zian, WANG Wei
Abstract Aiming at the dynamics problem in the manipulator
teaching process, taking a three-bar manipulator as an exam-ple, the Simscape module library is used for simulation tea-
ching modeling, and its basic components are introduced in detail, according to the structure diagram of the manipulator can be directly set up simulation model, through the simula-tion results can be directly observed the lever arm of the tra-jectory and motion parameters of each joint.
Key words MATLAB; Simscape; manipulator; simulation experiment
0 引言
機械手是自動化生產(chǎn)過程中逐漸出現(xiàn)的一種新型工業(yè)設(shè)備,隨著《中國制造2025》的提出,工業(yè)機械手成為智能制造必不可少的設(shè)備,而社會上操作維護機械手的技術(shù)人員相對緊缺,故各高校紛紛開設(shè)機器人相關(guān)課程[1]。(剩余3059字)