| 基于ADAMS的6自由度机器人的正解与逆解 |
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| 引用本文： | 陆由斌,胡国栋,吕健,刘加磊. 基于ADAMS的6自由度机器人的正解与逆解[J]. 机电产品开发与创新, 2010, 23(5): 1-2. DOI: 10.3969/j.issn.1002-6673.2010.05.001 |
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| 作者姓名： | 陆由斌 胡国栋 吕健 刘加磊 |
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| 作者单位： | 芜湖奇瑞装备有限责任公司机器人项目组; |
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| 摘 要： | 利用矩阵求解机器人的正解和逆解来研究机器人的运动学和动力学的方法较为普遍,但计算量大且容易出错,本文应用ADAMS软件设立一般点运动设定机器人的末端运动轨迹,方便的求得了机器人各轴的位置运动曲线,为机器人的设计定型和物理样机的设计提供分析依据。
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| 关 键 词： | ADAMS软件 运动学分析 正解 逆解 |
Nomal and Inverse Pose Solutions to 6-DOF Robot Base on ADAMS |
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| LU You-Bin,HU Guo-Dong,LV Jian,LIU Jia-Lei. Nomal and Inverse Pose Solutions to 6-DOF Robot Base on ADAMS[J]. Development & Innovation of Machinery & Electrical Products, 2010, 23(5): 1-2. DOI: 10.3969/j.issn.1002-6673.2010.05.001 |
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| Authors: | LU You-Bin HU Guo-Dong LV Jian LIU Jia-Lei |
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| Affiliation: | LU You-Bin,HU Guo-Dong,LV Jian,LIU Jia-Lei(Robotics Project Group of Chery Equipment Co.,Ltd.,Wuhu Anhui 241009,China) |
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| Abstract: | It is a common way to study kinematics and dynamics of robot with matrix operation,but it is a time consuming work and often get mistakes.This paper use ADAMS software established a general point of movement to set the end of the robot trajectory,it is easy to obtain the position of each axis movement curve,which provide reference for the robot design and the physical prototype of the design. |
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| Keywords: | ADAMS software kinematics analysis positive solution inverse solution |
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