焊接机器人的虚拟样机设计与仿真  

Design and simulation on virtual prototype of welding robot

作　　者：卞向娟[1] 龚友平[2] 陈国金[2] 

机构地区：[1]浙江教育学院计算机系,浙江杭州310032 [2]杭州电子科技大学机械学院,浙江杭州310018

出　　处：《机械设计》2008年第4期27-28,56,共3页Journal of Machine Design

基　　金：863目标导向资助项目(2006AA04Z162)

摘　　要：随着机器人技术和人工智能理论的发展和应用,在焊接机器人设计过程中还有许多值得研究的问题。文中首先利用ADAMS/V iew建立了焊接机器人的虚拟样机,然后在分析多体力学理论的基础上建立了焊接机器人多体动力学模型,并进行了相关理论求解,最后实现了焊接机器人的运动仿真。在仿真过程中,得到了机械手的运动仿真数据及工作空间,并对机构在运动过程中关键部位力学性能作了研究和分析,为后续焊接机器人的设计和制造提供了依据。Along with the development and application of robotic technology and theory of artificial intelligence there are still a lot of problems worthy to be studied in the course of welding robot design. Firstly the virtual prototype of welding robot was built by the use of ADAMS/View in this paper and then on the basis of analy-ing the multi-body mechanics theory to establish the multi-body dynamics model of welding robot and carrying through the solution of relevant theory, and finally realized the motion simulation of welding root. The motion simulation data and working space of manipulator were gained during the course of simulation and the study and analysis were made on mechanics property of the key positions of mechanism during the course of movement, thus provided basis for the design and manufacturing of the following-up welding robots.

关 键 词：虚拟样机 ADAMS 多体运动 焊接机器人 

分 类 号：TH391.72[机械工程—机械制造及自动化]