基于Matlab与ADAMS的机械臂运动学建模与仿真

Kinematics Modeling and Simulation of Mechanical Arm Based on Matlab and ADAMS

为实现机械臂在工作过程中的自动化,以及提高机械臂在实际应用中的定位精度,基于修正后的D-H法对机械臂进行了运动学正解理论推导,进而求解出机械臂的雅可比矩阵。分别通过Matlab理论计算与ADAMS虚拟样机仿真得到机构末端的位移变化曲线,验证了所建运动学理论模型的正确性。该研究不仅为机械臂的自动化设计和精确定位提供了理论指导,也为机械臂的受力分析提供了参考。

In order to achieve the automation of the work piece on-stream and improve the positional accuracy of the mechanical arm in practical application, this paper analyzes the kinematics positive solution of mechanical arm based on the adjusted D-H method, and solves the Jacobi matrix of the mechanical arm. Displacement curves of the agency end executor are obtained using Matlab theoretical calculation and ADAMS virtual prototyping simulation Correctness of the kinematics model is verified. This research can not only provide theoretical basis for automation design and accurate positioning but also provide reference for the force analysis of the mechanical arm.