标题：Based on Adams/Matlab/Simulink Two Link Manipulator Dynamics Simulation and Verification
作者：Jia Xuefeng; Song Hongjun; Rong Xuewen; Li Yibin
作者机构：[Jia Xuefeng; Song Hongjun] Shandong Agr Univ, Coll Mech & Elect Engn, Tai An 271018, Shandong, Peoples R China.; [Rong Xuewen; Li Yibin] Shandong U 更多
会议名称：32nd Chinese Control Conference (CCC)
会议日期：JUL 26-28, 2013
来源：2013 32ND CHINESE CONTROL CONFERENCE (CCC)
关键词：ADAMS; MATLAB/SIMULINK; Manipulator; Dynamics simulation; Lagrange
摘要：Mechanical arm dynamics equation of mechanical arm in the research has very important function, in use must guarantee the correctness of the dynamic equation. Therefore, based on ADAMS software as the foundation, the design of a simplified 2 rod mechanical arm virtual prototype model to study the dynamics equation of validation. In the ADAMS model of dynamic simulation analysis, the mechanical arm for the joint rotation angle, angular velocity and angular acceleration and moment kinetic parameters, etc. According to the model is deduced Lagrange dynamics equation, through the formula to calculate the joint torque and using the ADAMS of measurement data to verify the correctness of the dynamic equation.