基于ADAMS的工业机器人运动学分析和仿真

Kinematic Analysis and Simulation of Industrial Robot Based on ADAMS

机器人仿真技术为机器人的优化设计和研究提供了一种便利而高效的工具,是机器人研究领域的一个热点问题和重要组成部分;基于工业机器人的机械本体结构,以机器人的D-H矩阵为理论基础建立了连杆坐标系和运动学方程,详细地分析了其正向运动学问题;利用多体动力学分析软件ADAMS建立了工业机器人的虚拟样机模型,并进行了运动仿真分析,得出了机器人末端点运动的位移和速度曲线,证明了数学模型的正确性,而且为机器人的设计和研究提供了重要依据。

Robot simulation technology provides a convenient and efficient tool for the optimization design and study of robot and it is a hot issue and important part of robot research field.Based on the mechanical structure of the industrial robot,the connecting rod coordinate frame and the kinematic equation were established by using the rule of D-H,and the forward kinematics problem was analyzed detailedly by using the coordinate frame.The virtual prototype model of the industrial robot was established with the multibody dynamics analysis software ADAMS,and the simulation analysis was conducted,the angular displacement curve and the velocity curve of the robot end point were obtained,which not only proved the correctness of the mathematical model but also provided basis for further research of the robot.