基于ADAMS的机器人动力学仿真分析

作者：白丽平 日期：2007-08-31/span> 浏览：4300 查看PDF文档

                                                        基于ADAMS的机器人动力学仿真分析
                                                                            白丽平
                                                  （广东工业大学 机电工程学院，广东 广州 510090）

摘 要：从机器人动力学参数设计角度出发,利用动力学仿真分析软件ADAMS，建立了120点焊机器人的动力学仿真模型，并提出了无路径的搜索方法，在全部的机器人工作空间内进行仿真搜索，最终求取机器人关节驱动力矩的极限值。该方法提高了机器人系统的设计精度,解决了本体设计中参数无法精确确定的难题。
关键词：ADAMS；机器人；动力学分析；无路径搜索

                                              Simulation analysis of robot dynamics based on ADAMS
                                                                                          BAI Liping
(College of Mechanical & Electrical Engineering, Guangdong University of Technology, Guangzhou 510090, China)

Abstract: Startmg from the dynamic parameters design of robot, an 120 robot model was developed using multibody dynamics software ADAMS. By means of no path searching method, dynamics performance and dynamics simulation for 120 robot were deeply investigated. As a result, maximum joint motion torque in whole work place was obtained. The method can improve design accuracy of robot system, and solve the problem that parameters are unable to be determined accurately in proper design.
Key words: ADAMS; robot; dynamics analysis; no path search

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