基于ADAMS的工业机器人建模与动力学仿真  

Modeling and Dynamic Simulation of Industrial Robot based on ADAMS

作　　者：刘佩森 靳杏子 郑翔鹏 朱迪 LIU Peisen;JIN Xingzi;ZHENG Xiangpeng;ZHU Di(College of Mechanical Engineering, Chengdu Technological University, Chengdu 611730, China)

机构地区：[1]成都工业学院机械工程学院,成都611730

出　　处：《成都工业学院学报》2018年第4期10-13,59,共5页Journal of Chengdu Technological University

基　　金：四川省科技厅项目(2018RZ0108)

摘　　要：为了提升工业机器人工作效率和运动性能,以6自由度工业机器人为研究对象,选用拉格朗日力学分析法进行动力学仿真。使用三维设计软件Solid Works对其进行结构建模,并通过接口导入ADMAS仿真软件中,运用动力学方程,并添加驱动,最终获得重要组件的特性曲线图,完成动力学仿真过程。In order to improve the working efficiency and motion performance of industrial robots,the6-Dof industrial robots were taken as the research object in this paper,and Lagrange mechanics analysis was used to carry out dynamic simulation.The three-dimensional design software SolidWorks was used to conduct structural modeling,and was imported into the ADMAS simulation software through the interface.Using the dynamic equation and adding drive,the characteristic curves of important component were finally obtained,and the dynamic simulation process was completed.

关 键 词：工业机器人 动力学仿真 虚拟样机建模 拉格朗日力学分析法 

分 类 号：TH113.2[机械工程—机械设计及理论]