Kinematics Analysis and Simulation of a 7-DOF Welding Robot Based on ADAMS and MATLAB

摘要

According to the structure and motion features of 7-DOF welding robots, as well as the D-H matrix theory, we used MATLAB software to obtain the end-position of the manipulator, and modeled the robot virtual prototype based on ADAMS. By setting up the corresponding simulation environment, we computed and analyzed the end-position and orientation curve of the manipulator. We also compared the results of MATLAB programming with ADAMS simulation, which finally verified the reasonableness of the mechanical design.