基于 UG 和 ADAMS 的采摘机器人动力学仿真分析

摘要

In order to improve the speed of the robot manipulator design , shorten the development cycle and time , and improve the accuracy of the design , by using UG and ADAMS software joint simulation method , the picking robot is de-signed and optimized .Firstly , the 3 D solid model of the robot manipulator with six degrees of freedom is modeled by UG software , and then the model is imported into ADAMS by using UG and ADAMS .The model is added to the actual de-sign requirements .Finally , the dynamic simulation of the manipulator is carried out .Through simulation calculation , the displacement time curves and mechanical analysis curves of the joints of the manipulator are obtained by observing the movement track and force of the structure .%为了提高采摘机器人机械手设计的速度，缩短开发周期和时间，并提高设计的准确性，采用 UG 和 AD-AMS软件联合仿真的方法，对采摘机器人进行了设计优化。首先利用 UG 软件对六自由度的采摘机械手进行了三维实体建模，然后采用 UG和ADAMS的兼容性接口将模型导入到了 ADAMS软件中，根据实际设计需求添加了约束，最后对机械手进行了动力学仿真。通过仿真计算，得到了机械手各关节的位移－时间曲线和力学分析曲线，通过观察结构的运动轨迹和受力情况，可以对初始设计阶段的机械手进行优化设计，从而提高了设计的效率。