利用adams仿真分析五自由度机械手  

Simulation of Five-Degree-of-Freedom Manipulator Using ADAMS

作　　者：罗阿妮[1] 张家泰 刘贺平[1] 

机构地区：[1]哈尔滨工程大学机电学院,黑龙江哈尔滨150001

出　　处：《计算机仿真》2005年第7期201-203,245,共4页Computer Simulation

摘　　要：串联机械手的运动动力问题分析是一个研究重点,也始终是一个难点。相关的研究人员一直都在寻找一种简便的方法来分析此类问题。该文首先计算机械手各杆件的质量、重心坐标和惯性矩,然后在adams中建立机械手的最简模型。按照计算修改相关变量,对各关节定义自变量,进行相关的编程,形成可用对话框控制的仿真模型。再利用ADAMS/PostPro-cessor,可得到机械手上任一点的速度、加速度和受力等方面的分析曲线。最后,利用推导的此机械手的终端的x方向位移表达式,验证所得曲线正确与否。Study of the serial manipulator＇s kinematics and kinetics is an emphasis, and a. difficult point too. Correlative research people have been looking for a simple method for analyzing this kind of problems. The paper first calculates the quality , barycenter and inertia couple of the manipulator＇s sticks, then sets up the most simple model of the manipulator in adams. It revises the relevant variables according to the calculation, defines the independent variable to every joint, carries out relevant programming, forms availably the simulation model with dialog. With adams/PostProcessor , analysis curves of speed, acceleration and strength on a random point on manipulator can be a chieved. At last, the expression of the manipulator＇x-direction movement is used to validate the correctness of the curves.

关 键 词：软件 串联机械手 运动学 动力学 

分 类 号：TP241.3[自动化与计算机技术—检测技术与自动化装置]