| 基于ADAMS的弧焊机器人动力学仿真 |
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| 引用本文： | 沈红芳,宋又廉. 基于ADAMS的弧焊机器人动力学仿真[J]. 机械设计与研究, 2005, 21(6): 50-52 |
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| 作者姓名： | 沈红芳 宋又廉 |
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| 作者单位： | 上海电机学院机械工程系,上海,200240;上海电机学院机械工程系,上海,200240 |
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| 摘 要： | 采用Kane方法，建立了含局部闭链的关节坐标型弧焊机器人动力学方程式，用ADAMS软件对在典型运动状态下机器人的动力学特性进行了仿真分析，所得结果可应用于关节驱动装置设计及动力学优化设计。
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| 关 键 词： | 动力学 ADAMS 仿真 |
| 文章编号： | 1006-2343(2005)06-050-03 |
| 收稿时间： | 2005-03-01 |
| 修稿时间： | 2005-03-01 |
Dynamic simulation of an arc-welding robot with ADAMS |
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| SHEN Hong-fang,SONG You-lian. Dynamic simulation of an arc-welding robot with ADAMS[J]. Machine Design and Research, 2005, 21(6): 50-52 |
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| Authors: | SHEN Hong-fang SONG You-lian |
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| Affiliation: | Department of Mechahical Engineering,Shanghai Dianji University,Shanghai, 200240,China |
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| Abstract: | Kane method is adopted to establish the dynamics equation of an arc-welding robot that has an openedchain frame with a partial closed-chain. With the ADAMS software and its measuring output and simulation function, the dynamics characteristics of the arc-welding robot under some typical situations are analyzed. The results can be used in the design of drive device and dynamics optimization. |
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| Keywords: | dynamics ADAMS, simulation |
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