基于ADAMS的PUMA560机器人运动学研究

Research on Kinematics of Puma560 Robot Based on ADAMS

在建立PUMA560机器人模型的基础上,通过D-H坐标系对模型进行运动学理论分析,推导出相关公式,并将关节角度代入以得到末端姿态的理论值。以世界上著名的机械系统仿真软件ADAMS作为分析平台,通过在ADAMS中导入模型并进行相关仿真并得到仿真数据,将其与理论值相比较。通过数据处理可以得知,PUMA560机器人的运动学误差相对较小,机器人可以达到预期的动作效果。

On the basis of establishing the PUMA560 robot model,the kinematics theory of the model is analyzed by D-H coordinate system,the relevant formula is deduced,and the joint angle is substituted to get the theoretical value of the end position.Taking the world-famous mechanical system simulation software ADAMS as the analysis platform,the model is imported into ADAMS and relevant simulations are conducted to obtain simulation data,which is compared with theoretical values.Through data processing,it can be concluded that the kinematic error of the PUMA560 robot is relatively small,and the robot can achieve the expected action effect.