基于虚拟样机技术的冲压机器人运动学分析与仿真  

Kinematical Analysis and Simulation of Stamping Robot Based on Virtual Prototype Technology

作　　者：刘会祥[1] 苏春建[1] 

机构地区：[1]山东科技大学机械电子工程学院,山东青岛266590

出　　处：《机械工程师》2014年第5期90-92,共3页Mechanical Engineer

摘　　要：根据冲压过程的特点,设计开发一种结构简单的冲压机器人。通过D-H法分析对其连杆参数利用三维实体软件与虚拟样机技术联合进行运动学仿真。为使其在运动过程能够平稳,规划其运动轨迹,使用了Step5阶跃函数编程。通过仿真得出其各个关节变量的位移,速度和加速度运动曲线,为冲压机器人的设计、优化与运动控制提供了参考数据。A stamping robot which has simple mechanism is designed according to the characteristic of stamping process. Linkage parameter is analyzed using D-H method. Kinematical simulation is carried out through the alliance of three-dimension solid software and virtual prototype technology. In order to realize smooth and steady motion, its motion curve is planned, step5 function is used to programme. Motion curve of displacement, velocity and acceleration of each joint variable, are obtained to provide reference data for the design, optimization and motion control of stamping robot.

关 键 词：冲压机器人 虚拟样机 运动学 仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]