基于ADAMS六自由度矿用液压机械臂的动力学仿真  

Six-degree-of-freedom Mine Hydraulic Manipulator Dynamic Simulation Based on ADAMS

作　　者：李景扬 赵四海[1] 刘宗胜 廖文婧 LI Jingyang;ZHAO Sihai;LIU Zongsheng;LIAO Wenjing(School of Mechanical,Electronic and Information Engineering,China University of Mining and Technology-Beijing,Beijing 100083,China)

机构地区：[1]中国矿业大学(北京)机电与信息工程学院,北京100083

出　　处：《煤炭技术》2024年第9期244-248,共5页Coal Technology

基　　金：国家自然科学基金项目(52174154)。

摘　　要：为保障煤矿井下运输安全,减少井下人工搬运,进一步提升搬运机器人的井下运输效率至关重要。针对该现状提出一个具有六自由度液压机械臂的搬运机器人机械结构设计方案。利用SolidWorks软件建立液压机械臂的仿真模型,并采用ADAMS软件对机械臂关节角速度进行动力学仿真,最后进行计算对比。由仿真结果总结得出该方案机械臂结构设计具有合理性。In order to ensure the safety of underground transportation of coal mine and reduce underground manual transportation,it is very important to further improve the efficiency of underground transportation robot.In view of this situation,a design scheme for the mechanical structure of robot with six-degreeof-freedom manipulator is proposed.SolidWorks was used to model the hydraulic manipulator,and ADAMS software was used to simulate the dynamic of the joint angular velocity and angular acceleration of the manipulator.The simulation results show the rationality of the structural design of the robotic arm.

关 键 词：六自由度机械臂 机械结构 ADAMS软件 动力学仿真 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]