森林工程
森林工程
삼림공정
FOREST ENGINEERING
2012年
2期
33-37
,共5页
采伐联合机%ADAMS%运动学分析%仿真
採伐聯閤機%ADAMS%運動學分析%倣真
채벌연합궤%ADAMS%운동학분석%방진
Harvester%ADAMS%kinematics analysis%simulation
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。
對于多自由度機器人的運動學分析,一般採用D-H方法,但其計算複雜,準確度不高。採用先進的運動學分析軟件ADAMS,對設計的採伐聯閤機臂繫建模併進行運動學分析,研究採伐機在工作過程中整箇臂繫的運動狀況,以及伐木頭的運動軌跡和速度的變化情況,為研究採伐聯閤機臂繫是否會髮生榦涉踫撞和樣機的調試奠定理論基礎。
대우다자유도궤기인적운동학분석,일반채용D-H방법,단기계산복잡,준학도불고。채용선진적운동학분석연건ADAMS,대설계적채벌연합궤비계건모병진행운동학분석,연구채벌궤재공작과정중정개비계적운동상황,이급벌목두적운동궤적화속도적변화정황,위연구채벌연합궤비계시부회발생간섭팽당화양궤적조시전정이론기출。
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.
