基于Matlab与ADAMS的坡口切割机器人联合仿真研究  

Joint simulation of groove cutting robot based on Matlab and ADAMS

作　　者：郭爽 胡晓兵[1,2] 张雪健 Guo Shuang;Hu Xiaobing;Zhang Xuejian

机构地区：[1]四川大学机械工程学院,成都610065 [2]四川大学宜宾园区,宜宾644000

出　　处：《起重运输机械》2022年第7期37-44,共8页Hoisting and Conveying Machinery

摘　　要：文中针对异型平板钢材的自动化坡口加作业需求,设计一种6轴的坡口切割机器人。利用SoildWorks对坡口切割机器人进行结构设计,并将模型导入ADAMS中进行运动学仿真,验证虚拟样机建立的可靠性。运用ADAMS和Matlab建立搭建联合仿真控制平台,并使用轨迹跟踪控制算法,实现加工过程路径跟踪仿真。仿真结果表明控制方法能较好地完成自动化的坡口切割作业要求,实现坡口机器人姿态的精确调整,为物理样机的开发提供可靠依据。Considering the requirement of automatic groove machining for special-shaped flat steel,a 6-axis groove cutting robot is proposed.The structure of groove cutting robot is designed by SoildWorks,and the model is imported into ADAMS,so as to carry out kinematics simulation and verify the reliability of virtual prototype.ADAMS and Matlab are used to establish a joint simulation control platform,and the trajectory tracking control algorithm is used to track and simulate the machining process path.Simulation results show that the control method can better complete the automatic groove cutting operation and accurately adjust the posture of the groove robot,which can be used as a reliable basis for the development of the physical prototype.

关 键 词：坡口切割机器人 ADAMS MATLAB 联合仿真 PID控制器 

分 类 号：TG481[金属学及工艺—焊接]