CAJ | 학술논문

以D-H矩阵为基础对机器人建立起机器人运动学模型及机器人运动学方程；基于ADAMS对机器人构建虚拟样机模型并进行仿真，得出了机器人末端位移、速度、加速度随时间的数据变化曲线并进行分析和研究。仿真结果表明：机器人可按预期轨迹平稳运动，无突变、干涉现象，验证了机构设计和轨迹规划的合理性，为物理样机制造提供依据并奠定了运动控制的基础。
이D-H구진위기출대궤기인건립기궤기인운동학모형급궤기인운동학방정；기우ADAMS대궤기인구건허의양궤모형병진행방진，득출료궤기인말단위이、속도、가속도수시간적수거변화곡선병진행분석화연구。방진결과표명：궤기인가안예기궤적평은운동，무돌변、간섭현상，험증료궤구설계화궤적규화적합이성，위물리양궤제조제공의거병전정료운동공제적기출。
The robot mode of kinematics and the equation of kinematics are built based on the D-H ma-trix. The model of virtual prototype is constructed based on ADMAS and the simulation is done, the displacement, velocity and acceleration of robot end data curves changed with time are given out, analyses and study are done. The simulation results show that the robot can move smoothly according to prospective track without impact and inter-vene, which confirms the reasonableness of structural design and track plan, and provides the basis for the manu-facture of physical prototype and motion control.