Analysis on the type of Underactuated Manipulators Model and the Simulation

摘要：

The virtual prototype of the type of underactuated manipulator is established under the solidworks. It is proved that the manipulator has the characteristic of nonholonomic from the theoretical analysis to this model. The digital model is imported into ADAMS and the kinematics simulation and analysis are accomplished. We obtained the conclusion that the underactuated manipulator is controllable from the simulation analysis. It also provides theoretical foundation for prototypes debugging and control.

关键词： manipulator nonholonomic simulation controllable

作者: Yuegang Tan Yuping Wang Mohammed All-bail

作者单位: School of Mechanical and Electronic Engineering, Wuhan University of Technology, Wuhan,430070,P.R.Ch School of Mechanical and Electronic Engineering, Wuhan University of Technology,Wuhan,430070,P.R.Chi

会议类型: 国际会议

会议名称: 2008 Sino-European Workshop on Intelligent Robots and Systems(SEIROS08)(第一届中欧智能系统及机器人国际学术研讨会)

会议地点: 重庆

会议语种:英文

页码: 1-5

在线出版日期: 2008-12-11（万方平台首次上网日期，不代表论文的发表时间）