{"title":"使用MSC Adams进行计算机模拟","authors":"D. Hroncová, I. Delyová","doi":"10.22306/AM.V5I3.67","DOIUrl":null,"url":null,"abstract":"The goal of the presented paper is to compile a two-link model of manipulator and control the movement of the basket mounted at its end-effector. Authors focus on using MSC Adams in simulation of the motion of a two-link manipulator model. Attention is paid to kinematic and dynamic analysis of the manipulator, its modelling and control. The capability of MSC Adams Control Toolkit is used to design a control system which keeps the basket of the endeffector in horizontal position. Finally, the results obtained by computer simulation of the model are evaluated.","PeriodicalId":8040,"journal":{"name":"Applied Medical Informaticvs","volume":"18 1","pages":"41-46"},"PeriodicalIF":0.0000,"publicationDate":"2020-09-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":"{\"title\":\"COMPUTER SIMULATION USING MSC ADAMS\",\"authors\":\"D. Hroncová, I. Delyová\",\"doi\":\"10.22306/AM.V5I3.67\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"The goal of the presented paper is to compile a two-link model of manipulator and control the movement of the basket mounted at its end-effector. Authors focus on using MSC Adams in simulation of the motion of a two-link manipulator model. Attention is paid to kinematic and dynamic analysis of the manipulator, its modelling and control. The capability of MSC Adams Control Toolkit is used to design a control system which keeps the basket of the endeffector in horizontal position. Finally, the results obtained by computer simulation of the model are evaluated.\",\"PeriodicalId\":8040,\"journal\":{\"name\":\"Applied Medical Informaticvs\",\"volume\":\"18 1\",\"pages\":\"41-46\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2020-09-30\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"1\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Applied Medical Informaticvs\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.22306/AM.V5I3.67\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Applied Medical Informaticvs","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.22306/AM.V5I3.67","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 1
摘要
本文的目标是建立机械手的双连杆模型，并控制安装在末端执行器上的吊篮的运动。作者着重于利用MSC Adams对两连杆机械臂模型的运动进行仿真。重点介绍了机械手的运动学和动力学分析、建模和控制。利用MSC Adams Control Toolkit的功能，设计了一种控制系统，该控制系统可使驱力器的套筒保持在水平位置。最后，对模型的计算机仿真结果进行了评价。
The goal of the presented paper is to compile a two-link model of manipulator and control the movement of the basket mounted at its end-effector. Authors focus on using MSC Adams in simulation of the motion of a two-link manipulator model. Attention is paid to kinematic and dynamic analysis of the manipulator, its modelling and control. The capability of MSC Adams Control Toolkit is used to design a control system which keeps the basket of the endeffector in horizontal position. Finally, the results obtained by computer simulation of the model are evaluated.
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