【摘要】 为了分析Cobot的动力学性能,应用ADAMS/View和MATLAB/Simulink对四自由度Cobot进行了联合仿真。仿真结果表明,该仿真模型具有Cobot机器人的特点,可以方便地获得Cobot的动力学参数,为实现机器人的控制及性能改进提供了理论依据。联合仿真的方法为复杂机械系统的控制仿真提供了新思路。更多还原

【Abstract】 In order to analyze dynamic performances of Cobot,the dynamics simulation of a four-degree-of-freedom Cobot was completed by applying the ADAMS/View and MATLAB/Simulink. The simulation results illustrate that the model possesses features of Cobot, and conveniently acquires dynamics parameters of a Cobot,so it can provide theoretical bases for robot control and performance improvement. The method offers a new thought to the simulation of control system of complex mechanism.更多还原