基于SimMechanics的四自由度机械手控制系统机液耦合仿真

摘要

为了研究四自由度的工业机械手运动轨迹，提出了利用SimMechanics工具箱建立机械手仿真模型。仿真结果表明：可以有效得到机械手的运动参数，机械手可以准确执行运动轨迹，关节运动快速平稳没有冲击，为机械手机械和液压建模提供了一种方便的工具。%In order to analyze the movement trajectory of four degree of freedom ( 4⁃DOF) of industrial manipulator, it was pro⁃posed to use SimMechanics toolbox to build a manipulator simulation model. The simulation results show that the manipulator movement parameters can be obtained effectively. The manipulator can implement the trajectories accurately, and the joint movement is fast and smooth without shocking, which provides a convenient tool for mechanical and hydraulic modeling of the manipulator.