基于ADAMS的重载复合搬运机器人动力学仿真分析  

Dynamics Simulation and Analysis of Heavy-load Handing Compound Robot Based on ADAMS

作　　者：杨前明[1] 阮益 张君 YANG Qian-ming;RUAN Yi;ZHANG Jun(College of Mechanical and Electronic Engineering,Shandong University of Science and Technology,Qingdao,Shandong 266590,China)

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：《新型工业化》2018年第3期34-39,共6页The Journal of New Industrialization

摘　　要：针对重载搬运复合机器人的结构特征,利用Solidworks软件建立机器人三维模型。采用ADAMS软件进行动力学仿真,获得机器人关键部件的运行动态特性与末端Z轴方向位移特征曲线。对机器人关键部件运行过程中误差波动及形成原因进行了分析,验证了模型设计的合理性;通过模拟机器人典型工况下的作业受力情况,考察分析了关键部件的峰值力矩特征规律,验证了驱动电机功率参数选择的合理性。In view of the structural features of heavy-duty transport complex robot,a three-dimensional robot model was built using SolidWorks software.The operational characteristics of the key components of robot and the displacement of the robot end in direction of Z-axis were obtained on the basis of using ADAMS software for dynamic simulation.The error fluctuation and the reason of running of key parts of robot were analyzed and the rationality of model design also been verified.The characteristics of Peak torque of key parts are investigated and analyzed by simulating the working force under typical working conditions and the rationality of power parameter selection of driving motor is verified.

关 键 词：重载搬运 复合机器人 ADAMS软件 动态仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]