【摘要】 介绍了基于ADAMS的5自由度串联机器人运动学正、反解仿真方法,给出了一种有效的仿真多自由度串联机器人反解的驱动函数构造方法,并用ADAMS强大的运动仿真功能、函数、测量及曲线处理功能,对5自由度机器人进行了运动学正反解仿真运行及分析,为机器人运动控制及优化设计提供参考依据。更多还原

【Abstract】 This paper introduces kinematics positive & reverse solution for the 5 degree-of-freedom serial-link robot based on ADAMS.A kind of effective structure method of drive function for the reverse solution of the simulation DOF serial-link robot is given.Using the functions of ADAMS such as motion simulation,function,function,measure and PostProcessor,this paper introduces the results of kinematics positive & reverses solution simulation of the 5-DOF robot.It provides a reference basis for the robot’s motion control and optimization design.更多还原