点焊机器人模型的动力学仿真分析  

Spot Welding Robot Model Dynamics Simulation Analysis

作　　者：白丽平[1] 解生冕[2] 

机构地区：[1]广东工业大学,广东广州510090 [2]广州航海高等专科学校,广东广州510725

出　　处：《机电工程技术》2007年第7期49-51,89,共4页Mechanical & Electrical Engineering Technology

摘　　要：利用多刚体动力学分析软件ADAMS,对120点焊机器人进行建模,并提出有路径的动力学仿真分析方法。即在机器人工组空间内选取特定路径,分别进行机器人运动学和逆动力学仿真,最终得到机器人各关节的动力学参数。A 120 spot welding robot model was developed using multibody dynamics analysis software-ADAMS. Then path searching method was presented for dynamic simulation. As the aspect of path searching,we can obtain robot load allocation and the data for robot manipulation process through kinematics and dynamics simulation which was implemented by several typical paths in robot working space.

关 键 词：ADAMS 120机器人 动力学仿真 有路径搜索 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]