基于Adams的冲压机器人运动学仿真分析  

Stamping Robot Kinematics Simulation Analysis Based on Adams

作　　者：冯江涛[1] 赵娜[1] 何昌传[1] 

机构地区：[1]广东工业大学材料与能源学院,广东广州510006

出　　处：《模具制造》2015年第2期70-73,共4页Die & Mould Manufacture

摘　　要：本文所涉及的RV-4F-D工业机器人是一种用于冲压生产线的上下料机器人,该机器人通过一次拾取完成上料、下料动作。借助Pro/E软件的强大建模功能进行三维实体建模,然后通过Pro/E和Adams良好的数据共享能力,将模型数据保存为parasolid格式,导入Adams软件,根据实际运动情况添加相应约束。通过对机器人末端添加点驱动来实现机器人的轨迹规划,完成运动学仿真。通过测量各关节部件的位移、速度、加速度变化情况,观察各关节相关曲线的变化趋势,为冲压机器人轨迹优化及后续动力学仿真分析奠定基础。This paper involved the RV-4F-D industrial robot is a kind of loading andunloading robot used in stamping production line, the robot through the completion of a pick upfeeding material. Using proe software powerful modeling function of 3D solid modeling, and thenthrough the good data sharing capabilities of the Pro/E and Adams, the model data is saved as aparasolid format, import the Adams software, add the corresponding constraints according to theactual movement situation. through to the end of the robot to add a point drive to achieve thetrajectory planning of the robot, complete kinematics simulation. By measuring the change of thedisplacement, velocity, acceleration of each joint components, observe the change trend of eachjoint related curve, to lay the foundation for industrial robot trajectory optimization andsubsequent dynamics simulation analysis.

关 键 词：冲压机器人 ADAMS 轨迹规划 运动仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]