六轴装配机器人的动力学建模及ADAMS仿真分析  

Dynamic Modelling and ADAMS Simulation Analysis of Six-Axis Assembly Robot

作　　者：张帅 ZHANG Shuai(School of Mechanical Engineering,Nanjing University of Science and Technology,Nanjing 210094,China)

机构地区：[1]南京理工大学机械工程学院,江苏南京210094

出　　处：《机械工程与自动化》2024年第2期47-49,52,共4页Mechanical Engineering & Automation

摘　　要：以六轴装配机器人为例,利用SolidWorks软件建立该装配机器人虚拟样机,然后采用拉格朗日法推导机器人的动力学方程,并利用MATLAB/Simulink模块求解关节力矩的理论值,之后利用ADAMS仿真软件进行动力学分析。仿真结果表明:机器人各关节速度、角速度等曲线都比较平滑、无突变,各关节力矩变化平稳,说明机器人结构合理,运行平稳,为之后机器人选择驱动电机、进行运动控制提供了有价值的数据信息,为实际样机开发提供了有效参考。Taking six-axis assembly robot as an example,the assembly robot virtual prototype was built using SolidWorks software.The Lagrangian method is then used to derive the kinetic equations of the robot,and solve the theoretical values of joint moments using MATLAB/Simulink module,then the dynamics analysis is carried out using ADAMS simulation software.Simulation results show that:the curves of speed and angular velocity of all joints of the robot are smooth and free of sudden changes,and the change of joint moments is smooth,which indicates that the robot has a reasonable structure and operates smoothly,and it provides valuable data information for the robot's selection of drive motors and motion control,and it provides an effective reference for the development of the actual prototype.

关 键 词：六轴装配机器人 动力学建模 仿真分析 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP391.92[自动化与计算机技术—控制科学与工程]