基于ADAMS的装车机器人运动分析

Kinematic Analysis of Loading Robot Based on ADAMS

为了提高装车机器人的运动平稳性,采用UG和ADAMS软件联合仿真的方式,对装车机器人进行了运动分析。首先利用UG对机器人进行三维建模,并利用ADAMS建立机器人的虚拟样机模型。然后建立梯形曲线、S形曲线的速度模型,仿真分析这两种速度曲线对机器人运行稳定性的影响。针对S形曲线中加速段和减速段加加速度不连续,提出了一种三次S曲线加减速控制算法。仿真结果表明,三次S曲线加减速控制算法能够保证加速度和加加速度的平稳变化,避免产生大的冲击,使机器人运动更加平稳,为机器人的运动控制及优化提供了参考。

In order to improve the motion stability of the loading robot, the kinematic analysis of the loading robot was carried out by using UG and ADAMS software. Firstly the 3D solid model of the loading robot was built by UG, and the virtual prototype model of the robot was established by ADAMS. Then the velocity model of trapezoidal curve and S-shaped curve was established, and the influence of these two curves on the running stability of robot was analyzed by simulation. In view of the jerk discontinuity of the acceleration section and deceleration section in S-shaped curve, a cubic S curve acceleration and deceleration control algorithm was proposed. The simulation results show that the cubic S curve acceleration and deceleration control algorithm can ensure the smooth variation of acceleration and jerk, avoid large impact, and makes the robot motion more stable, which provides a reference for the optimal design of the robot.