穿鞋带机械手ADAMS与MATLAB联合仿真研究  

Research for Co-Simulation of Wearing Shoes Manipulator Based on ADAMS and MATLAB

作　　者：陈罡[1] 严楠[1,2] 高晓丁[2] 孟静[2] 

机构地区：[1]浙江纺织服装职业技术学院机电学院,浙江宁波315211 [2]西安工程大学机电学院,陕西西安710048

出　　处：《机械设计与制造》2015年第6期230-232,237,共4页Machinery Design & Manufacture

基　　金：产业技术创新及成果产业化重大项目(2013B10013;2013B10045)

摘　　要：介绍了一种用于工业生产中穿鞋带的机械手的结构,针对传统的机械手设计方法效率低、成本高等缺点,采用Solid Works对一款4自由度的穿鞋带机械手造型,在ADAMS中对建立的仿真模型的正确性进行了验证,并基于ADAMS与MATLAB对其进行联合仿真研究;采用两种布局控制模式对动力学模型的PD控制器进行搭建,对仿真结果的合理性和正确性进行了验证;通过调整控制参数对跟踪响应曲线进行了优化。联合仿真的结果表明,机械手系统具有较好的响应性能和良好的跟踪能力。该方法提高了设计效率、降低了成本,具有较强的实用性和广泛的应用性。A structure of wearing shoes manipulator is introduced in industrial production,and aiming at the disadvantage of worse efflwiency and higher cost in the traditional method of designing manipulator,the model of a 4-DOF manipulator of wearing shoes is built by SolidWorks,and correctness of the simulation model established is verified in ADAMS, then research for co-simulation of the manipulator is performed based on ADAMS and MATLAB. Two kinds of layout of PD controller are built to control the dynamic model,and simulation results are well verified and tested ;The tracking responses curves are optimized as the controlling parameters are adjusted .The co-simulation results indicate that the manipulator system has a preferable response characteristics and better ability of tracking. The design method has a strong practicability and extensive application as saving the cost and improving the design efficiency.

关 键 词：穿鞋带机械手 ADAMS MATLAB 联合仿真 

分 类 号：TH16[机械工程—机械制造及自动化]