【摘要】 为了提高机器人设计的效率和可靠性,运用并简化ADAMS和MATLAB的接口,在MATLAB/SIMULINK里增加了电机仿真模块,弥补了ADAMS中刚性电机的不足,成功地对一平面二自由度机器人机械臂进行了仿真,径向误差<0.065mm,末端终点误差<0.060mm.仿真结果表明,这种方法可以较好地虚拟仿真机器人模型.更多还原

【Abstract】 In order to improve the efficiency and reliability of robot design, the authors utilize and predigest the interface between ADAMS and MATLAB and add a motor simulation block in MATLAB/ SIMULINK, thus remedying the insufficiency of rigid motor in ADAMS and successfully simulating the mechanical arm of a two DOF plane robot. The radial error is less than 0.065 mm and the error of the end point is less than 0.060 mm. The result of simulation shows that this robotic simulation method is practical.更多还原