基于ADAMS的管路安装钻车机械臂运动学仿真研究  

Study on Kinematics Simulation of Pipeline Installation Drilling Truck Manipulator Based on ADAMS

作　　者：马骥 Ma Ji(Meihuajing Coal Mine,Ningxia Coal Industry Co.,Ltd.,CHN Energy Group,Yinchuan 751400,China)

机构地区：[1]国家能源集团宁夏煤业有限责任公司梅花井煤矿,银川751400

出　　处：《煤矿机械》2024年第12期55-57,共3页Coal Mine Machinery

摘　　要：对管路安装钻车多关节机械臂的机构设计进行了准确性验证,并评估了其抓取频率及承载能力。使用SolidWorks软件构建了机械臂的三维模型,并将其导入ADAMS平台进行运动学分析。在ADAMS中,对机械臂一个工作周期的运动过程进行了仿真,从而获得了各个关节在该周期内的力矩变化曲线。采用三维设计技术和ADAMS软件进行机械臂的运动学分析,能够显著提高设计效率,增强设计质量,并有效减少产品开发的成本。The accuracy of the mechanism design of the multi-joint manipulator of the pipeline installation drilling truck was verified,and its gripping frequency and load carrying capacity were evaluated.The 3D model of the manipulator was constructed by using SolidWorks software and imported into ADAMS platform for kinematic analysis.In ADAMS,the motion process of the manipulator in one work cycle was simulated,so as to obtain the moment change curves of each joint in the cycle.The kinematic analysis of the manipulator part by using 3D design technology and ADAMS software can significantly improve the design efficiency,enhance the quality of the design,and effectively reduce the cost of product development.

关 键 词：ADAMS 机械臂 运动学仿真 管路安装钻车 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]