基于ADAMS的便携式自动割胶机器人的仿真分析  

Simulation Analysis of a Portable Automatic Tapping Robot Based on ADAMS

作　　者：罗庆生[1] 刘杨 李凯林 Luo Qingsheng;Liu Yang;Li Kailin(Flectrical and Mechanical Callege,Reijing Institute of Technology,Reijing100081,China;School of Mechnical Engineering,Beijing Institute of Technology,Beijing100081,China)

机构地区：[1]北京理工大学机电学院,北京100081 [2]北京理工大学机械与车辆学院,北京100081

出　　处：《计算机测量与控制》2020年第8期198-202,210,共6页Computer Measurement &Control

基　　金：海南省重点研发计划项目(ZDYF2017015)。

摘　　要：为研究便携式自动割胶机器人在割胶过程中运动轨迹的准确性与实用性,采用实体仿真模型辅助分析的研究理念,提出了基于ADAMS软件的便携式自动割胶机器人虚拟样机的运动学仿真分析方法;针对机器人匀速切割和变速切割两种切割模式,将简化后的SolidWorks模型导入到ADAMS软件中,应用ADAMS软件分析机器人割胶刀头的位移与速度,再利用Matlab软件得到刀头的运动轨迹,并与理论计算结果进行比较;仿真结果表明:该便携式自动割胶机器人在割胶过程中具有良好的平顺性与稳定性,且运动轨迹与理论轨迹的误差在0.5mm以内,满足割胶生产的实际需要;其研究成果对相关产品的实物研制及其虚拟仿真方案的制定、参数选取可提供有益参考。In order to study the accuracy and practicability of the movement trajectory of the portable automatic tapping robot during tapping process,the research concept of physical simulation model-assisted analysis was used to propose a kinematics simulation analysis method of a portable automatic tapping robot virtual prototype based on ADAMS software.For the two cutting modes of constant speed cutting and variable speed cutting of the robot,the simplified SolidWorks model is imported into the ADAMS software.The ADAMS software is used to analyze the displacement and speed of the robot tapping cutter head,and then the MATLAB software is used to obtain the movement path of the cutter head.The theoretical calculation results are compared.The simulation results show that the portable automatic tapping robot has good smoothness and stability during tapping,and the error between the movement trajectory and the theoretical trajectory is within 0.5 mm,which meets the actual needs of tapping production.The research results can provide useful reference for the physical development of related products,the formulation of virtual simulation schemes,and the selection of parameters.

关 键 词：自动割胶机器人 刀头切割轨迹 仿真分析 虚拟样机 ADAMS 运动分析 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]