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The virtual prototype of the type of under-actuated manipulator was established under the Solidworks. It is proved that the manipulator has the nonholonomic characteristic from the theoretical analysis to this model. The digital model was imported into ADAMS and the kinematics simulation and analysis were accomplished. The research conclusion shows that underactuated manipulator is controllable from the simulation analysis perspectives. It also provides theoretical foundation for prototype’s debugging and control.
The virtual prototype of the type of under-actuated manipulator was established under the Solidworks. It is proved that the manipulator has the nonholonomic characteristic from the theoretical analysis to this model. The digital model was imported into ADAMS and the kinematics simulation and analysis were conducted . The research conclusion shows that underactuated manipulator is controllable from the simulation analysis perspectives. It also provides the theoretical foundation for prototype’s debugging and control.