基于ADAMS和Pro/E的目标物体抓取机械手的运动学仿真

Kinematic Simulation of Object Grasping Manipulator Based on ADAMS and Pro/E

基于目标物体抓取机械手的结构和运动特点,运用D-H方法建立该五自由度机械手的运动学方程并求解,运用Pro/E三维建模功能对该机械手进行实体建模,再利用ADAMS软件仿真功能进行运动学仿真,得出机械手在特定运动状态下末端点的运动轨迹、速度和位移等特性曲线,验证了运动学数学模型的正确性,为机械手结构优化和运动控制提供数据参数。

Based on the structure and movement characteristics of object grasping manipulator, it establishes the kinematic equations of five degrees of freedom manipulator using the D-H method and solves the forward kinematics. The solid model of manipulator is established through the powerful 3D modeling function of Pro/E. Using the complex mechanical system simulation function of the ADAMS software, the characteristic curve of the end point trajectory, speed and displacement of the manipulator in specific movement state is gotten via kinematics simulation, and the correctness of kinematics mathematical model is verified. At last, it provides data parameters for structural optimization and motion control of manipulator.