焊接机器人虚拟样机的设计及运动仿真

随着焊接机器人技术的成熟，产生了很多值得去发展和研究的领域；同时，也为今后更好地改善工人的工作条件，提高生产率和产品质量，增强企业的竞争力，打下了坚实的基础。本文首先在AD—AMS软件中完成了机器人的虚拟样机建模；然后，添加了各个部件之间的约束，通过分析机器人多体动力学模型当中的动力学理论，对理论进行了相关求解，进一步将得到的数据进行了分析，实现了机器人运动学仿真；最后，得到了机械手各个部位的运动学仿真数据。通过研究各个部位在运动过程中的关键力学性能，为焊接机器人的设计、研制及工作效率的提高提供了重要参考依据。

Welding Robot Virtual Prototype Design and Movement Simulation

With the development of welding robot technology becoming mature, it has a lot to us to develop and re- search, at the same time, a better use of it in the future to improve workers working conditions can be made including in- creasing productivity, improving the quality of the product, and finally enhancing the competitiveness of enterprises to a sol- id foundation. This paper firstly completed the virtual prototype model of the robot in the ADAMS software, then added the constraints between different parts, through the analysis of the dynamics of robot multi-body dynamic model of the theory, the related theory to the solution was did. According to the data for further analysis, robot kinematics simulation was real- ized. By studying the key mechanical properties in the process of each part in the sports and the analysis and research of the system had important significance for the welding robot design, development and improve work efficiency.