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6R串联机器人雅可比矩阵求解和速度仿真

于 2020-12-11 发布
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求解机器人学雅克比矩阵的方法以及速度仿真的方法

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    ansoft Maxwell 3d 向导式的用户界面、精度驱动的自适应剖分技术和强大的后处理器时的Maxwell 3D成为业界最佳的高性能三维电磁设计软件。可以分析涡流、位移电流、集肤效应和邻近效应具有不可忽视作用的系统,得到电机、母线、变压器、线圈等电磁部件的整体特性。功率损耗、线圈损耗、某一频率下的阻抗(R和L)、力、转矩、电感、储能等参数可以自动计算。同时也可以给出整个相位的磁力线、B和H分布图、能量密度、温度分布等图形结果。本文件是软件使用教程.希望能帮助大家·Printing HistorNew editions of this manual include material up dated since theprevious edition. The manual printing date, indicating the manualscurrent edition, changes w hen a ncw edition is printed. Minorcorrections and updates incorporated al reprint do not cause the daleto changeUpdate packages may be issued betw een editions and containadditional and/ or rep lacement pages to be merged into the manualby the user Pages which are rearranged because of changes on aprevious page are not considered to be revised.EditionDateSoftwareRevisionFebruary 1991April 199212December 1993October 19964.1September 19995.06December 20006.0WWW⊥nmTypeface ConventionsComputerCter type is used fon promptsand messages, for field names, and for keyboard entries that must be ty ped in theirentirety exactly as shown. For example, thenstruction"copy filel"means to type the w ordcopy, to type a space. and then to type filelMenu/Command Computer type is also used to display the commands that are needed to perform a specifictask Menu levels are separated by forwardslashes (/) For example, the instructionhoose File/Open"means to choose the Opencommand under the file menuItalicsItalic type is used for emphasis and for thetitles of manuals and other publications. Italictype is also used for key board entries when aname or a variable must be typed in place ofthe words in italics. For example, the instruc-rion“ copy filename” means to type the wordcopy, to type a space, and then to type then amc of a filc. such as filelKeysHelvetica type is used for labeled keys on thecomputer keyboard. For example, the instruc-tion"Press Return?"means to press the key onthe com puter that is lahcled Returnwww.docin.coInstallationBefore you use Maxwell 3D, you must1. Set up your systems graphical windowing systerm2. 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Generally, right click "refers to a right mouse button clickDouble-ClickOccasionally you may want to sclect all of thc text in a box,orperform a special lask(such as indicating the end of drawing a linewhile you are using Maxwell 3D. You can do this efficiently byquickly clicking twice with your left mouse button -a doubleDragging objects; Click and HoldWhen you are drawing in the 3D Modeler, you can often use yourmouse to enter objects and move around the screen. Frequently, youwill click the mouse button and hold it down until the next part of thecommand is reached (the object is oved, the next point is enteredand so forth). If you click and hold on the edge of a w indow, you canposition, or drag, the window on your screen. You can often dragobjects in Maxwell; experiment to see w hat will moveTool BarsTool bars are shortcut methods for entering commands. There is atool bar in the 3d Modeler and most of the setup modules for severalcommand s. To use a tool bar. click the mouse cursor on the buttonyou want to use. Here is an example of a tool bar囗。圖哦良风≌固函MenusWithin each screen of maxwell 3d are areas w hich list subsets ormenus,of commands. You can access a menu by clicking your mouseon the word or button that indicates the menu. The menu is pulleddown, listing the commands available on that menu. (For examplethc New command is availablc on the File mcnu. Usually, thc mcnuwill remain displayed until you choose a command, or click on thedesktop to exit. If the menu does not remain displayed, click and holdthe mouse button, then release the button to make your choiceFile Edit viewNewopenCloseSavectrl+SSave AsImportExportExitctrl+QAn arrow on the right side of a command indicates that there is asubmenu for that command. An ellipsis (. )indicates that a pop-upwindow appears aftcr choosing this commandWhen you are asked to use a menu command, each level is separatedby a"/". Thus, to zoom in on a drawing, you would choose the viewLoom In menu command To open a new file, you would choose File/There are also pop-up menus, which appear when you righL-click ona maxwell modeler window. choose commands from thcsc menus inthe same way as from menu barsFor more information on using GUIs, refer to"User Interface"in theMaxwell Control Panel,s online help systemOther ReferencesFor detailed information on Maxwell 3d commands refer to theonline documentation for the maxwell 3d field simulatorTo start maxwell 3d, you must first access the maxwell controlPanel. for more detailed inform ation on the maxwell control panelcommands, refer to the Maxwell Control Panels online help systemwww.docin.comTable of Contents1. Introduction1-1General Procedure.1-2The Sample Problem1-4Meshes.....,,,,,,,,面2. Create aAccess the maxwell Control Panel·:.·:·甲,,,,,,,,,,2-2Start the Project managerCreate a Project directoryCreate a New project··,···············,·,,,,,,,,,,2-6Enter notes2-73. Draw the model3-1Open the project3-2Start. the 3D Modeler3-3Side window........................snaps3-6Define the problem region: Coordinates and Units ..,...... 3-7Absolute and relative coordinates3-7Grids3-7Zooming in and out of the view window3-9Create the electromagnet3-10Draw the Coil...,,.,..,3-10Draw thc Circlc........,..,...,,,......,..........3-10Create the Cylinder,,3-11Create the hole for the Core3-12Draw the Core·中··············3-13SavingP3-14Create the magnel翻...3-15Draw the magnet3-15Move the magnet3-15Toggle Off the Background..................3-16Create a termini..........,,,,,..,,,,......,,,..3-17Create the Coil terminal..........,,......,,,.,..3-18Define the Problem Region;..,;;“;##.3-20Define the Problem Region .................. 3-21Shading and rendering . ......................................3-22Exit the 3d modeler3-234 Define The problemAccess the Material Manager4-2Exclude the background·····+···,,,,,,,,,,,,,,.4-2Assign Steel to the CoreAssign Copper to the Coil4-3Assign vacuum to the problem Region.......4.......4-3Assign NdFe35 to the Magnet4-3Access the 3D Boundary/Source Manager45assign a current to the coil.....4-6Define the sourceAssigning the Source lo the Termina.........,..,,,,∴4-64-7Check the Direction of the CurrentExit the 3D Boundary/Source Manager4-85. Generate a Solution5-1Setup executive Parameters······5-2Create a Force Setup for the Magnet.5-3Create a Force Setup for the Coil and Core5-3Create a Force Setup for the entire model·········Exiting the Executive Parameters moduleSpecifying Solution Criteria·非5-5Solver type11翻自。■非非首·····:.··.·Magnetic Field SolveResidualSolve for Field and Parameters+++++++++++++++++++++;,+“++Adaptive analysisContents-2
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