摘要
借助ADAMS仿真软件建立了六自由度串联机器人的虚拟样机模型,对其运动学问题进行了仿真研究。通过对末端执行器添加点驱动,设置期望轨迹参数方程,仿真测量得到各个关节角度变化的曲线,通过对曲线的拟合,最终得到运动学逆解。利用六个关节的运动驱动,仿真得到机器人末端执行器的位移与速度曲线,其变化平稳,无突变现象。通过在ADAMS平台上进行仿真,可直观的了解到机器人运动过程中的各连杆、各关节及末端执行器的运行状态,为机器人轨迹规划、动力学分析及离线编程、物理样机实验等提供依据。
A virtual prototype model of six-DOF tandem robot has been established by means of ADAMS,and the kinematics question of the model has been simulated.By adding a general point motion to the end-effector of the robot model and setting the desired trajectory parameter,movement angle curve of each joint was measured.Finally,the inverse kinematics solution is obtained by fitting the curve.The displacement and velocity curves of the robot end-effector are obtained by driving the six joints motion.Further,the curves changed smoothly without abrupt changing.With simulating by ADAMS,the running state of each joint,link and end-effector can be intuitively understood in the process of robot motion,which provides the basis for the robot trajectory planning,dynamic analysis,offline programming and physical prototype experiment.
作者
李飞
黄维刚
梁鹏
LI Fei;HUANG Wei-gang;LIANG Peng(Xi'an Aerospace Precision Electromechanical Institute,Xi'an 710100,China)
出处
《重型机械》
2019年第2期38-42,共5页
Heavy Machinery
