目标物体抓取机械手的设计与仿真

Design and Simulation of Objects Grasping Manipulator

对机械手的整体结构进行设计,包括对电机的选型和机械臂的强度校核。运用D-H方法建立机械手的运动学方程,并对正运动学进行求解,建立机械手末端相对于基座的位姿。运用Pro/E软件建立五自由度机械手的三维实体样机模型,然后导入ADAMS软件中建立机械手的虚拟样机并进行仿真,得出关节角速度、关节力矩和末端点的位移、速度特性曲线;通过ADAMS软件仿真验证了关节电机选型计算的合理性与运动方程的正确性,为机械手的设计优化、运动控制提供数据基础。

It presents design of the overall structure of the manipulator. It mainly ineludes selection of the motor and check the strength of mechanical arm. The D-H method is used to establish the kinematic equations of mechanical arm. Then, it solves the forward kinematics to establish the manipulator end relative to the base to the position. Three-dimensional solid model of five degrees of freedom manipulator is established through the software of Pro/E. Then, the model is imported into the ADAMS software to create a virtual prototype of the manipulator. So, the joint of angular velocity and torque and the end point of displacement and velocity to characteristic curve are gotten via simulation. At last, the reasonableness of selection calculated of the joint motor and correctness of the equations of motion are verified by the ADAMS simulation software, which provides evidence for optimization of the design and motion control of manipulator.