基于ADAMS的四轴冲压搬运机器人的运动学分析及仿真

摘要

针对现在冲压行业升级改造的实际需求,设计开发一种灵活性高、控制简单的四轴冲压搬运机器人,利用Solidworks建立机器人实体模型;采用D-H法构建了运动学方程,对该机器人进行了运动学正解与反解;通过ADAMS软件对机器人进行了运动学仿真,规划了搬运轨迹;并通过对末端执行器X、Y、Z方向的位移、速度、加速度仿真曲线的分析与评估,验证设计的合理性,并为实现四轴冲压搬运机器人运动控制奠定了基础.%In view of the actual demand for the upgrading and transformation of the stamping industry,a high flexibility and sim-ple control 4-Axis stamping handling robot is designed and developed. SolidWorks was used to set up the solid model of the robot;D-H method was adopted to establish the robot kinematics equation, by which the forward problem and inverse problem were all solved. The moving procedure for trajectory planning was realized after taking advantage of software ADAMS to complete kinematics simulation;and to analyze and evaluate the displacement,velocity and acceleration data curves on X,Y and Z direction of robot end actuator cen-ter. Finally confirmed the reasonableness of structural design,it forms a basis for implement the controlling movement of the robot.