基于ADAMS平台的多轴联动线切割机器人逆运动学分析  

Inverse Kinematics Analysis of a Multi-axis Linkage Wire-cutting Robot Based on ADAMS

作　　者：姜永成[1] 黄德臣[1] 张秀华[1] 华秀萍[1] 谢风伟[1] 朱世伟[1] 

机构地区：[1]佳木斯大学机械工程学院,黑龙江佳木斯154007

出　　处：《佳木斯大学学报（自然科学版）》2014年第2期262-266,273,共6页Journal of Jiamusi University：Natural Science Edition

基　　金：黑龙江省教育厅科学研究项目(12511551)

摘　　要：为扩展空间复杂曲面零件的加工方法,实现复杂曲面零件的高效、绿色加工,提出了利用串联机器人手臂代替线切割机床工作台以及其他附属多轴联动设备构建多轴联动线切割加工机器人的方法.建立了多轴联动串联型线切割机器人的数学模型.借助ADAMS平台建立了复杂曲面线切割机器人的虚拟样机,进行了逆运动学分析与优化,验证了机器人机械结构的合理性,为多轴联动线切割机器人的快速设计与制造提供了理论依据.In order to expand the processing methods of space complex surface parts and realize high effi -ciency, green machining , a method of building multi -axis linkage wire-cutting processing robot was put for-ward using serial robot arm to replace the linear cutting machine table and other ancillary multi -axis linkage e-quipments .A mathematical model of the multi -axis linkage series wire -cutting robot was built .The virtual prototype of the complex surface wire -cutting robot was established based on ADAMS , and the inverse kinemat-ics analysis and optimization were carried out .The rationality of the robot mechanical structure has been verified , which can provide a theoretical basis for the rapid design and manufacturing of a multi -axis linkage wire -cut-ting robot.

关 键 词：电火花线切割 机器人 复杂曲面 ADAMS 逆运动学 

分 类 号：TP241.3[自动化与计算机技术—检测技术与自动化装置]