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江 汉 大 学 本科毕业设计（论文） ADAMS环境下工业机器人运动控制 和联合仿真 Motion Control And Co-simulation Of Industrial Robot iN ADAMS Environment 年 级: 2005级 学 号:姓 名: ***** 专 业: 机械设计制造及其自动化 指导老师: @@@@@ (论文长度 40页左右) 2009 年 6 月  摘 要 虚拟样机技术就是在建造第一台物理样机之前,设计师利用计算机技术建立机械系统的数字化模型,进行仿真分析并以图形方式显示该系统在真实工程条件下的各种特性,从而修改并得到最优设计方案的技术。 论文首先通过建立坐标系和矩阵变换，对刚体的空间表示进行了阐述，然后采用通用的D-H法则，将机器人关节角度参数化，推导出其正运动学方程和逆运动关节角，并计算出机器人手部的初始坐标。其次采用ADAMS软件，详细介绍了机器人三维建模过程，包括整体框架构建，单个构件绘图和布尔运算等，并对机器人关节点进行了参数化设计。最后从机器人轨迹规划的基本原理和方法出发，比较分析了关节空间轨迹规划和直角坐标空间轨迹规划的差别，并采用三次多项式和五次多项式对机器人进行了轨迹规划，利用ADAMS软件中内嵌的Step函数对运动轨迹进行了仿真分析。然后在Windows XP Professional的系统环境下，以Visuall C++6.0为开发工具，建立了三自由度机械手视景仿真系统模型，实现了仿真系统对MATLAB控制模型导出数据的读取和利用。 关键词:运动学 轨迹规划 ADAMS虚拟样机技术 视景仿真 纹理映射 Abstract Before manufacturing the first physical prototype, the designers used computer technology to build a mechanical system of digital model for analysis simulation, which showed that the system works in real conditions of the various characteristics, so as to be revised and Optimal design. This process is called Virtual prototyping technology. First of all, through the establishment of coordinates and matrix transformation, the rigid body of the space that was elaborated, and then use the D-H rule, Robot parameters of the joint were gained, equations of motion were given, and the joints angle were known , initial coordinates of Robot hand can be calculated. Followed by ADAMS software, we processed details of the robot three-dimensional modeling, including the overall framework for building, mapped a single component and Boolean operation, designed parameters for the robot and the key points. Finally, we introduced the basic principles and methods of robot trajectory planning, and compared differences between the joint space trajectory planning and rectangular coordinates space trajectory planning. the cubic polynomial and five polynomial of the robot trajectory planning were carried out, the Step function w