基于复杂路径下的六自由度机器人动力学仿真  

Dynamic Simulation of 6-DOF Robot Based on Complex Trajectory

作　　者：李辉[1] 黄文权[1] 李开世[1] 

机构地区：[1]四川理工学院机械工程学院,四川自贡643000

出　　处：《机械设计与制造》2015年第9期208-210,214,共4页Machinery Design & Manufacture

基　　金：过程装备与控制工程四川省高校重点实验室基金项目(GK201003)

摘　　要：虚拟样机技术是机械产品开发的一个重要仿真手段,是提高产品开发效率和节约成本的有效途径。利用Solid Works建立六自由度雕刻工业机器人的三维模型,以D-H矩阵建立空间坐标系,将其机械臂以矩阵方式在空间坐标系中表达出来,通过对MATLAB Robotics Toolbox工具箱进行二次开发,完成其轨迹的逆运动求解,将逆运动求解结果及三维模型导入ADAMS进行机器人联合动力学仿真。实现了一种快速基于复杂工作路径下的六自由度机器人动力学的求解,与传统运用STEP函数求解相比,仿真轨迹更加真实、仿真结果更加可靠。Virtual prototyping technology is an important means of simulation for mechanical product development, and it is an effective and cost savings way for product development. SolidWorks/s used to design the 6-DOF carving robot. The space coordinate system is established by using the rule of D-H and the arms of the robot are expressed by using matrix form in the coordinate flame. Through the secondary development of the Robotics Toolbox, the inverse soluion of the trajectory is received, and then the solution and the model are imported to ADAMS to make a corporate simulation of the robot about dynamic ,achieving the study of a rapid method of dynamic simulation based on the complex real working path. The trajectory is more real and the results are more reliable when compared with the traditional STEP function.

关 键 词：机器人 MATLAB ADAMS 动力学仿真 

分 类 号：TH16[机械工程—机械制造及自动化]