基于ADAMS的SCARA机器人运动学仿真研究  

The Kinematics Simulation for SCARA Robot Based on ADAMS

作　　者：杨成文[1] 张铁[1] 

机构地区：[1]华南理工大学机械与汽车工程学院,广东广州510640

出　　处：《机床与液压》2011年第21期118-120,114,共4页Machine Tool & Hydraulics

基　　金：国家863重点课题资助项目(2009AA043901-3);粤港关键领域联合招标项目(20090101-1);广州白云区科技攻关资助项目(2009-S2-46)

摘　　要：对SCARA机器人进行正逆运动学分析以及轨迹规划仿真时,不易直观地验证运动学算法的正确性和轨迹规划的效果。为解决以上问题,基于ADAMS软件环境,建立了SCARA机器人的三维虚拟样机模型,结合SCARA机器人的正逆运动学在笛卡尔空间对其末端规划一段圆弧路径轨迹,并将该圆弧路径轨迹数据导入虚拟样机模型中进行轨迹规划的仿真。结果表明,该系统为SCARA机器人运动学分析及轨迹规划方法的仿真验证提供了一个有效的平台。In the motion simulation and trajectory planning of SCARA robot, the correctness of kinematics algorithm and the effect of trajectory planning are not easy to be visually verified. A SCARA robot three-dimensional virtual prototype model was established based on ADAMS software. Combining SCARA robot inverse kinematics, a circular route was planed for SCARA robot＇s end in the Cartesian space and the circular path trajectory data were put into the virtual prototype model for trajectory simulation. The results show that the system provides an effective platform for the analysis of SCARA robot kinematics analysis and trajectory planning simulation.

关 键 词：SCARA机器人 ADAMS软件 轨迹规划 仿真平台 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]