三自由度微小型车床机械手运动学理论及ADAMS仿真

Kinematics Theory of Three-Degree-of-Freedom Micro Lathe Manipulator and its Simulation in ADAMS

随着微小型轴类零件应用日渐广泛,精度和复杂度需求日益提高,相关研究持续深入。设计了一款三自由度微小型车床机械手,并基于D-H参数法等运动学理论,在ADAMS平台下对其进行了仿真研究。理论分析与仿真结果显示:机械手末端运行轨迹完全正确;机械手末端、升降关节和伸缩关节的位移变化及旋转关节的角速度变化均较平稳。不仅印证了其符合运动学理论、仿真简化模型的合理性,也表明理论与仿真联合分析方法使得运动过程更加直观化,在减少研发周期和提高工作效率的同时,能够更好地服务于机械手运动控制及优化设计研究。

With wider applications as well as increasing accuracy and complexity requirements on microshafts,there needs further related research.A three-degree-of-freedom(TDF)micro lathe manipulator isdesigned,and its simulation is carried out under ADAMS platform based on the kinematics theories suchas D-H parametric method.The theoretical analysis and simulation results show that,the end trajectoryof manipulator is completely correct;displacements of the end trajectory of manipulator,the lifting jointand the telescopic joint,as well as the angular velocity of the rotating joint,are relatively stable.Not onlyare the completeness of kinematics theory and the rationality of simplified simulation model confirmed,but also,the joint analysis between theory and simulation makes a more intuitive movement process,indicating a more perfect tool for movement control and optimization design on the manipulator whilereducing the development cycle and improving the work efficiency.