多连杆锻造重载机械臂运行轨迹分析及算法研究  

Kinematic calculation and simulation of Multi link forged heavy manipulator

作　　者：师文涛 马广龙 何雪龙 张旭 安建军 马建 SHI Wentao;MA Guanglong;HE Xuelong;ZHANG Xu;AN Jianjun;MA Jian(Lanzhou Ls Group Co.,Ltd.,Lanzhou Ls Heavy Machinery Co.,Ltd.,Lanzhou 730300,Gansu China)

机构地区：[1]兰州兰石集团兰石重工有限公司,兰州甘肃730300

出　　处：《锻压装备与制造技术》2024年第2期29-32,共4页China Metalforming Equipment & Manufacturing Technology

摘　　要：针对多连杆机械臂在运动轨迹计算繁杂,解析计算难度较大的问题,提出采取复数矢量法进行计算,在MATLAB中求解机械臂的末端轨迹,并在ADAMS中对多连杆机械臂建立运动学和动力学模型,完成仿真分析,验证理论计算的轨迹。In response to the problem of complex motion trajectory calculation and high difficulty in analytical calculation of multi link manipulator,a complex vector method is proposed for calculation.The end trajectory of the manipulator is solved in MATLAB,and kinematic and dynamic models of the multi link manipulator are established in ADAMS to complete simulation analysis and verify the trajectory calculated theoretically.

关 键 词：重载机械臂 运动轨迹 复数矢量法 ADAMS 多连杆锻造 

分 类 号：TG315.12[金属学及工艺—金属压力加工] TP241[自动化与计算机技术—检测技术与自动化装置]