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利用同时基于Jacobian和Hessian矩阵机器人动力学性能指标及预期相应的串联机器人加速度全局性能指标,对FANUC M420iA(FMA)机器人机构进行了分析,给出了运动学和动力学性能指标的图谱,探讨了不同尺寸之间的性能差异。最后,利用OpenGL进行了实体仿真,验证了数值模拟的速度和加速度性能指标的正确性,为机构的优化设计提供了理论依据。
Based on the kinematic performance of Jacobian and Hessian matrix robots and the corresponding global performance indices of tandem robot acceleration, the robot mechanism of FANUC M420iA (FMA) is analyzed and the kinematics and dynamics performance indexes are given. Performance differences between different sizes. Finally, the solid simulation is carried out by using OpenGL, which verifies the correctness of the numerical simulation speed and acceleration performance index and provides a theoretical basis for the optimization design of the mechanism.