五自由度关节型机器人结构设计及其动态仿真研究  

Structural design and dynamic simulation research of 5-Dof joint robot

作　　者：杨雄[1] 孔庆忠[1] 张海平[1] 

机构地区：[1]内蒙古工业大学机械学院,呼和浩特010051

出　　处：《机械设计与制造》2009年第8期169-171,共3页Machinery Design & Manufacture

摘　　要：为了研究机器人的总体动态性能,首先进行了机器人的总体结构设计,并在Pro/E环境下建立了五自由度机器人3D机械装配模型,运用ADAMS软件对其进行了运动动力学的三维动态仿真研究,最后根据测量输出结果讨论了系统设计的合理性以及在实际应用中的意义。对机器人的后续研究,这些研究成果具有一定的参考价值。In order to research the overall dynamic performance of the robot,firstly,a overall structural design of the robot is carried out,and a 3D model of the 5-Dof robot is established in the Pro/E environment,then a three dimensional dynamic simulation research of the kinematics and dynamics is carried out using the ADAMS software ,finally the rationality of the system design is discussed as well as the significonce in the practical application according to the output results ,which have been measured in the simulation process ,so,to following research of the robot,these achievements do have some reference value.

关 键 词：自由度 结构设计 动力学分析 动态仿真 

分 类 号：TH16[机械工程—机械制造及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]