基于ADAMS的MOTOMAN机器人运动学模拟

Kinematics simulation of MOTOMAN robot based on ADAMS

机器人的运动学分析是机器人末端操作器的位姿分析、速度分析和加速度分析。文中以MOTOMAN UP6机械手为对象,基于D-H方法建立其位姿方程,运用ADAMS软件对其进行运动学仿真,得到机器人不同状态下的位移、速度和加速度的实时分析结果,对关节型机器人的运动性能研究具有积极意义。

What is called analysis for kinematics of robot refers to the analysis for pose,speed and acceleration of robot＇ s end manipulator. In this paper, the manipulator of MOTOMAN UP6 is firstly considered as object, then setting up its pose equation based on the means of D- H, simulating its kinematics by software of Adams, we can obtained the real time results of pose,speed and acceleration of robot in different condition. Therefore, it makes active sense in performance of movement of joint robot.