| 基于ADAMS的五自由度焊接机械手运动学分析 |
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| 引用本文： | 王姣,张文君. 基于ADAMS的五自由度焊接机械手运动学分析[J]. 武汉理工大学学报(信息与管理工程版), 2012, 34(2): 175-177,210 |
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| 作者姓名： | 王姣 张文君 |
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| 作者单位： | 武汉理工大学机电工程学院,湖北武汉,430070 |
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| 摘 要： | 针对某钢丝网架的生产需求,利用三维实体软件Pro/E建立了五自由度焊接机械手的三维模型,对其建立D-H模型和运动学分析.利用运动学分析软件ADAMS对其简化模型进行运动特性仿真分析,给出了机械手在特定运动状态下各关节的角速度、扭矩及角加速度等特性曲线,为机械手运动控制及结构优化设计提供了参考依据.
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| 关 键 词： | 焊接机械手 ADAMS 五自由度 运动学分析 |
Kinematics Analysis and Simulation for a 5 -degree- of- freedom Welding Robot Based on ADAMS |
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| WANG Jiao , ZHANG Wenjun. Kinematics Analysis and Simulation for a 5 -degree- of- freedom Welding Robot Based on ADAMS[J]. Journal of Wuhan University of Technology(Information & Management Engineering), 2012, 34(2): 175-177,210 |
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| Authors: | WANG Jiao ZHANG Wenjun |
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| Affiliation: | :Postgraduate;School of Mechanical and Electronic Engineering,WUT,Wuhan 430070,China. |
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| Abstract: | For the production demands of steel mesh welding robot,a 3-D model of 5-degree-of-freedom welding robot was established with three-dimensional solid software Pro/E.The D-H model and its kinematics analysis were conducted.Then,a simplified model of 5-degree-of-freedom welding robot was established in ADAMS,and its motion characteristic was analyzed by ADAMS.When the robot is under a specific state of motion,the curves about angular velocity,torque and angular acceleration of every joint can be obtained,which can provide a basis for robot motion control and structural optimization design. |
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| Keywords: | welding robot ADAMS 5 degrees of freedom(5-DOF) kinematics analysis |
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