The method of determining tower crane lifting torque curve with double - suspension 双吊点塔式起重机起重力矩曲线的确定
Joint angular motion curves can offer the basis of real movement , and joint torque curve can offer the basis on which structure is designed 仿真结果的关节角运动曲线可以为实际运动提供依据,关节力矩曲线能为本体设计提供依据。
Then program and simulation based on adams is respectively given , so we can get the characteristics of all the robot joints movement . kinematics optimization rules can be proved by motion simulation characteristic 在理论分析的基础上,利用matlab进行程序设计,使用adams软件完成了运动学和动力学的仿真,得到了机器人各关节转角曲线,优化特性曲线和力矩曲线。
The equation of the dynamical model of the intelligent system is educed when the dynamical model is established in the second part . and using matlab software simulates the mathematic model . this program gives the key curves of the intelligent system for manipulator 应用拉格朗日方程建立了智能化供弹系统的动力学方程,并应用matlab软件进行了动力学仿真,得到了驱动力矩曲线、速度曲线、加速度曲线等动力学特性曲线。
Upon those theory studies , under the simulation environment of adams software , the 3 - d virtual prototype model was simulated according to actual gorilla robot “ gorobot ” . and in simulation studies , this paper realized biped steady dynamic forward - walking , upstairs and downstairs biped walking , walking mode shifting and rationality of the method for pattern generation was validated in this paper . by the simulation , the curves of joints drive torque and ground reaction force for landing - foot were gained 基于上述的理论,在仿真软件adams的环境下对类人猿机器人“ gorobot ”仿真实现了双足前向稳定动步行,双足上下台阶,步行方式动态转换过程,从而验证了本文的步行样本生成方法的正确性和合理性;通过仿真得到的关节力矩曲线、着地脚的地面反力曲线等仿真结果验证了机器人步行和步行方式转换的能力。