基于ADAMS的机器人灵巧手建模与仿真

Modeling and simulation of robot dexterous hand based on ADAMS

为由于传统的末端夹持工具无法满足复杂应用场景,通过SolidWorks软件设计了一款仿人手的机械夹持末端,将机械手的三维模型导入到ADAMS软件中进行基础的仿真测试,通过简单的捏取动作捕捉其基本特性。仿真测试结果表明,在实验条件下机械手能够正常完成预定动作,为仿人手的五指灵巧手应用于实际生活提供参考。

The development of intelligent industrialization has gradually expanded the application industry and scope of robots,and under the condition that traditional end clamping tools cannot meet complex application scenarios,a mechanical clamping end that imitates human hands through SolidWorks was designed.And the three-dimensional model of the manipulator was imported into ADAMS for basic simulation testing,so that the fingers could do some simple grasping actions and simple gestures and capture their basic characteristics.Under the condition of basic data,the manipulator could complete the predetermined action normally under experimental conditions.Based on this,the foundation for the five-finger dexterous hand that resembles a human hand could be applied in real life in the future.