基于虚拟样机的机器人控制仿真软件系统研究与开发-机械设计及理论专业论文.docxVIP

北京工业大学硕士学位论文ABSTRACT 北京工业大学硕士学位论文 ABSTRACT The dynamic sjmulation ofrobot manipulators is an important topic in the study of robots It is of great Value to develop high emcient simulation software for the research and application of robots The dynamic simujation and controI simuIation shouId be integrated in order to get me whole performance of robots So f打the software has not been matured to simulate mechanical system and control system synctlronously The famous soRware ADAMS can be used to simulate the combined system，but its interface is complicated aIld so need some new deveiopment Thereby it takes 1ess expense to deVelop a combined simulating system based on ADAMS A simulation soRware system is proposed using the k【lowledge of soRware engineering in this study The eXistent interface between ADAMS and MATLAB is used and reinforced A robot si删lation model is added imo ADAMS and MATLAB accordingly The strongpoints Of the system are as follows AboVe aU，the simulating operation is automatic because the interface between ADAMS aIld MATLAB is shielded and sjmplifled．Secondly】tbjs system can simulate factual motor that is the simplified aIld ideal one iIl ADAMS In the new system，the motor i8 automatically created and the operation is just to select a method ofcontr01．Finallythe configuration of ADAMS is simplmed by using the so脚are system．The adVant{狺e of the system has been demonstrated山广ough an eXampIe of a pIanar two-aHn robot with fIexibIe joints The numerical reSult shows that the system works steadily and so can be used into various kinds of mechanical system．The 8imulatiOn emciency for me dynamic a11alvsis ofrobot can be en：banced Keywords： Robot，Simul撕on，Con打ol，Ⅵ巾la】type，ADAMS ．Ⅱ． 第1章 第1章 绪论 第1章绪论 l 1引言 随着生产力水平和科学技术的日益进步，机器人在工业生产中的应用越来越 广泛，机器人正向着高速、高精度、轻质、重载、高可靠性、高灵活性等方向发 展。机器人仿真是机器人研究的一项很重要的内容，它涉及机器人机构学、机器 人运动学、机器人零件建模、仿真机器人三维实现和机器人运动控制，是一项综 合性的有实用价值的研究课题。 从上世纪的90年代开始，许多国外企业都十分重视分析工作在产品设计中的 作用，在产品开发过程中尽可能多的采用分析技术，进行反复的设计、分析迭代， 以便保证产品的性能。近年来，随着cAx技术和工具的发展，在