基于ADAMS的搅拌摩擦点焊机器人动力学仿真分析

ADAMS软件在分析机构的运动学和动力学方面有着强大的功能;针对搅拌摩擦点焊机器人的设计问题,首先建立其动力学模型,然后利用Pro/E软件建立了机器人的三维实体模型,将其导入到ADAMS中进行动力学分析,给各个关节运动副加上相应的轨迹曲线方程,使其按照指定的运动方式运动。通过仿真得到并分析了机器人各关节在运动过程中各阶段的动力学特性,为电机系统的精确选型及控制系统的设计等进一步研发搅拌摩擦点焊机器人设备提供了可靠有力的依据,对于保证其机械系统的性能以及提高其可靠性等具有十分重要的意义。

The analysis of kinematic simulation of friction stir spot welding robot based on ADAMS

The software ADAMS has powerful function on the analysis of the institutions of the kinematics and dynamics.According to friction stir welding robot dynamic problems in design process,established its dynamics model,and using Pro/E software built its 3D entity model into ADAMS for dynamic analysis.Give the track of the corresponding vice curve equation to each joint movement,and make it movement according to specified movement way.Get and analysis the dynamic properties of each joint of the robot by the simulation and of the movement process,which provides a reliable powerful basis for further research and development of the friction stir welding robot equipment such as the accurately and selection of the motor system and the design of the control system.Have a very vital significance to ensure the performance of mechanical system and its reliability.