CAJ | 학술논문

通过建立机械手的运动学方程，结合机械手在实际工作环境中的位置坐标参数与需要搬运物件的位置坐标，代入求解方程，得到机械手末端执行器位姿与各关节变量之间的关系。运用大型工程软件UG NX8．0对机械手进行建模与仿真，分析结构设计与工作流程设计的合理性。仿真结果显示：机械手工作可达范围满足设计要求，末端执行器在初始位置、物件初始位置、物件目标位置时的位姿与预期值相符，末端执行器速度与过载变化情况均在设计要求范围内。机械手运动方程建立与求解正确，运动动作合理，机械手机构方案可满足设计要求。
통과건립궤계수적운동학방정，결합궤계수재실제공작배경중적위치좌표삼수여수요반운물건적위치좌표，대입구해방정，득도궤계수말단집행기위자여각관절변량지간적관계。운용대형공정연건UG NX8．0대궤계수진행건모여방진，분석결구설계여공작류정설계적합이성。방진결과현시：궤계수공작가체범위만족설계요구，말단집행기재초시위치、물건초시위치、물건목표위치시적위자여예기치상부，말단집행기속도여과재변화정황균재설계요구범위내。궤계수운동방정건립여구해정학，운동동작합리，궤계수궤구방안가만족설계요구。
Through building the manipulator kinematics equations combined with the manipulator location coordinates and the lo-cation coordinates of requires moving objects in the actually environment , we solved the equation to obtain the relationship between manipulator end-effectors position and respective joint variables.We used engineering software UG NX 8.0 for modeling and simulation of the manipulator, and analyzed the rationality of structural and workflow design.With the simu-lation results, the displacement of manipulator end-effectors can achieve the design requirements.When the end-effectors are in the initial position, the object initial position and object target location, the position and attitude are consistent with the expected value, and the speed and load changes are within the scope of the design requirements.