基于ADAMS的采伐联合机臂系运动学仿真分析

Kinematic Simulation and Analysis of the Harvester Arm System Based on ADAMS

对于多自由度机器人的运动学分析,一般采用D-H方法,但其计算复杂,准确度不高。采用先进的运动学分析软件ADAMS,对设计的采伐联合机臂系建模并进行运动学分析,研究采伐机在工作过程中整个臂系的运动状况,以及伐木头的运动轨迹和速度的变化情况,为研究采伐联合机臂系是否会发生干涉碰撞和样机的调试奠定理论基础。

D-H is often the common method applied to conduct kinematical analysis of multi-degree freedom robot. But the dis- advantages are obvious, such as complex calculation process, and low accuracy. A much more advanced kinematical analysis software ADAMS is adopted in this paper. Through the modeling and kinematical analysis of the designed arm of harvester, the arm system＇ s whole state of motion in working process was studied, together with the trace and velocity of the felling head. This research provides theoretical basis for the collision judging of the harvester＇ s arm system and prototype debugging of the machine.