基于ADAMS搬运机械手轨迹规划

Trajectory Planning of Handling Robbot Based on ADAMS

通过Solid Works建立搬运机械手模型,导入ADAMS软件。根据末端的工作路径要求,通过点驱动的方式计算各关节角随时间的变化曲线。通过ADAMS的后处理模块将曲线转换为样条曲线,在各关节上添加驱动,观察求解的准确性,为物理样机调试提供依据。

In this paper, the handling robot model is established by the Solid Works, and then it is imported to the ADAMSsoftware. According to the requirements of the end working path, the curve of the joint angle changing over time is calculatedthrough the point-driven method. Through the post processed module of ADAMS, the curve is converted into spline. Addingthe motor to joints and observing the accuracy, it could provide the basis for physical prototype debugging.