基于ADAMS与MATLAB的喷涂机器人运动仿真研究.pdfVIP

第8期 组合机床与 自动化加工技术 No.8 2014 年8 月 Modular Machine Tool Automatic Manufacturing Technique Aug. 2014 文章编号:1001-2265(2014)08-0044-05摇 摇 摇 摇 DOI:10.13462/ ki.mmtamt.2014.08.013 基于 ADAMS和 MATLAB的喷涂机器人运动 仿真研究* 袁安富,沈思思,余摇 莉,曾晶晶 (南京信息工程大学信息与控制学院,南京摇 210044) 摘要:根据喷涂机器人的工作要求,采用改进的D鄄H 法建立其运动学方程,并分析其正问题。 利用 Solidworks软件建立机器人几何模型,通过ADAMS仿真软件对虚拟样机进行运动学仿真分析;利用 机器人工具箱求解运动学正、逆解,同时对机器人进行正运动学和轨迹规划仿真,得到了平滑而又连 续的位移、速度、角度、运动轨迹曲线和机器人喷涂过程中的运动轨迹规划曲线。 从而验证了几何模 型设计的合理性和数学模型的正确性,为后续的动力学分析以及轨迹优化等奠定了理论基础。 关键词:喷涂机器人;运动学;轨迹规划;仿真 中图分类号:TH165;TG659摇 摇 摇 文献标识码:A The Kinematics Simulation for the Painting Robot Based on the Adams and Matlab YUAN An鄄fu,SHEN Si鄄si,YU Li,ZENGJing鄄jing (Nanjing University of Information Science and Technology, College of Information and Control, Nanjing 210044,China) Abstract:According to the work requirements of the Painting robot,the kinematical equation were estab鄄 lished by using the modifiedform of D鄄H notation,andthe forwardkinematicsproblem wasanalyzedbyu鄄 sing the coordinate frame. The geometric model of the robot was established by the Solidworks software, and kinematics simulation analysis was conducted by using ADAMS;Kinematics,inverse kinematics was solved and the robot forward kinematics and trajectory planning simulation were carried by using Robotics Toolbox,the smoothandcontinuousdisplacement,velocity,angle,trajectorycurvesandthetrajectoryplan鄄 ning curve during the robot spraying were obtained. As so to verify rationality of the geometric model and correctness of the mathematical modelsmodel,which provided the theoretical foundation for subsequent ki鄄 nematical analysisand trajectory optimization. Key words:painting robot;kinematics;trajec