基于Solidworks和VC++的抛光机器手运动仿真研究  

Study on Polishing Robot Kinematics Simulation Based on ADAMS and VC++

作　　者：李晓伟[1] 周宏甫[1] 

机构地区：[1]华南理工大学机械与汽车工程学院,广州510640

出　　处：《科学技术与工程》2012年第8期1923-1927,共5页Science Technology and Engineering

摘　　要：设计了一种自由曲面抛光的关节型机器手,对其进行了运动学建模。利用几何法简化求逆解过程,并给出了显式的解析解。在Visual studio 2003中应用VC++和MFC编程,计算出空间轨迹的各关节角度。在Adams 2010中完成了机器手的三维实体建模,并运用样条插值的轨迹算法,完成了机器手实现三维空间轨迹的运动学仿真过程,验证了几何法求解和轨迹规划的正确性,以及方案的可行性。A free-form surface polishing joint robot is designed, and the robot＇s kinematic analysis is carried out. The inverse solution of the kinematic equation is given by using the simplified geometric method. Programming with VC ＋＋ and MFC in Visual studio 2003, joint angles of space trajectory are calculated. A three-dimensional solid model is completed in Adams 2010. Using spline interpolation trajectory algorithm, the robot＇s three-dimensional kinematic simulation is completed. The correctness of the geometric method for solving, trajectory planning and the program＇s feasibility is verified.

关 键 词：抛光 逆运动 VC++ 样条插值 仿真 

分 类 号：TP241.2[自动化与计算机技术—检测技术与自动化装置]