基于ADAMS的新型三臂轮式巡检机器人运动学仿真  

Kinematics Simulation of the New Three-Arm Wheeled Inspection Robot Based on ADAMS

作　　者：高露 赵利 周海君 孙琳[3] 

机构地区：[1]辽宁理工学院工程技术学院,辽宁锦州121000 [2]沈阳睿星科技有限公司,辽宁沈阳110000 [3]沈阳工学院工程技术学院,辽宁抚顺113006

出　　处：《机械研究与应用》2017年第3期5-7,共3页Mechanical Research & Application

摘　　要：为探究新型三臂轮式巡检机器人机构设计是否合理,采用ADAMS仿真软件对机器人跨越并避让带有转折线的悬垂线夹这种典型任务进行仿真,模拟机器人实际运动状态。简化了机器人模型,采用STEP函数对其进行运动规划。仿真结果表明机器人能平稳的跨越悬垂线夹,证实了巡检机器人结构设计和运动规划的合理性和正确性。In order to explore whether the meehanieal design of the new three-ann wheeled inspection robot is reasonable, ADAMS simulation software is adopted to simulate the robot crossing and avoiding the typical tasks that the suspension clamF with turning line, sinmlate the actual motion state of the robot. The robot model is simplified, and the STEP function is used for the motion planning. The sinmlation resuhs show that the robot can smoothly cross the suspension clamp, and the rationali- iv and correctness of the structure design and motion planning of the inspection robot are then proved.

关 键 词：机器人 ADAMS 仿真 

分 类 号：TP241.2[自动化与计算机技术—检测技术与自动化装置]