基于ADAMS的五自由度焊接机械手运动学分析

Kinematics Analysis and Simulation for a 5-degree-of-freedom Welding Robot Based on ADAMS

针对某钢丝网架的生产需求,利用三维实体软件Pro/E建立了五自由度焊接机械手的三维模型,对其建立D-H模型和运动学分析。利用运动学分析软件ADAMS对其简化模型进行运动特性仿真分析,给出了机械手在特定运动状态下各关节的角速度、扭矩及角加速度等特性曲线,为机械手运动控制及结构优化设计提供了参考依据。

For the production demands of steel mesh welding robot,a 3-D model of 5-degree-of-freedom welding robot was established with three-dimensional solid software Pro/E.The D-H model and its kinematics analysis were conducted.Then,a simplified model of 5-degree-of-freedom welding robot was established in ADAMS,and its motion characteristic was analyzed by ADAMS.When the robot is under a specific state of motion,the curves about angular velocity,torque and angular acceleration of every joint can be obtained,which can provide a basis for robot motion control and structural optimization design.