| 基于ADAMS的采伐联合机臂系运动学仿真分析 |
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| 引用本文： | 葛安华,陶鹏,李权章. 基于ADAMS的采伐联合机臂系运动学仿真分析[J]. 森林工程, 2012, 28(2): 33-37 |
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| 作者姓名： | 葛安华 陶鹏 李权章 |
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| 作者单位： | 东北林业大学大学工程技术学院,哈尔滨,150040 |
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| 基金项目： | 国家科技支撑计划项目北林业大学研究生科技创新项目 |
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| 摘 要： | 对于多自由度机器人的运动学分析,一般采用D-H方法,但其计算复杂,准确度不高。采用先进的运动学分析软件ADAMS,对设计的采伐联合机臂系建模并进行运动学分析,研究采伐机在工作过程中整个臂系的运动状况,以及伐木头的运动轨迹和速度的变化情况,为研究采伐联合机臂系是否会发生干涉碰撞和样机的调试奠定理论基础。
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| 关 键 词： | 采伐联合机 ADAMS 运动学分析 仿真 |
Kinematic Simulation and Analysis of the Harvester Arm System Based on ADAMS |
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| Ge Anhua,Tao College of Engineering and Technology,Peng,Li Quanzhang. Kinematic Simulation and Analysis of the Harvester Arm System Based on ADAMS[J]. Forest Engineering, 2012, 28(2): 33-37 |
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| Authors: | Ge Anhua Tao College of Engineering Technology Peng Li Quanzhang |
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| Affiliation: | Northeast Forestry University, Harbin 150040) |
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| Abstract: | D-H is often the common method applied to conduct kinematical analysis of multi-degree freedom robot. But the dis- advantages are obvious, such as complex calculation process, and low accuracy. A much more advanced kinematical analysis software ADAMS is adopted in this paper. Through the modeling and kinematical analysis of the designed arm of harvester, the arm system＇ s whole state of motion in working process was studied, together with the trace and velocity of the felling head. This research provides theoretical basis for the collision judging of the harvester＇ s arm system and prototype debugging of the machine. |
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| Keywords: | Harvester ADAMS kinematics analysis simulation |
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