【摘要】 机器人三维运动仿真是当前机器人研究领域中重要的研究方向之一。采用CAD软件Pro/E和机械系统动力学仿真软件ADAMS,对德国CLOOS公司生产的76AW型弧焊机器人建立了三维运动仿真模型。采用Denavit-Hartenberg方法建立了连杆坐标系下的机器人运动学模型,并采用Matlab编写了运动学正、逆解的程序。详细阐述了模型的建立方法及具体过程,实现了在ADAMS环境下的机器人焊缝路径的运动仿真。为机器人动力学及离线编程技术的研究提供了基础。更多还原

【Abstract】 The3D motion simulation of robots is one of the important research directions.The CAD software namely Pro /E and mechanical dynamics software-ADAMS are adopted to establish3D simulating model of76AW arc welding robot which is made by German CLOOS Company.The kinematics model under link-pole coordinate system with the method of Denavit-Hartenberg is established,and the program of the kinematics positive and reverse solution are written in Matlab.The model building method and operational procedures are introduced in detail,the simulation of robot motion based on ADAMS is realized.It provides a basis for research on robot dynamics analysis and off-line programming of arc welding robot.更多还原