Based on Adams/Matlab/Simulink two link manipulator dynamics simulation and verification

摘要

Mechanical arm dynamics equation of mechanical arm in the research has very important function, in use must guarantee the correctness of the dynamic equation. Therefore, based on ADAMS software as the foundation, the design of a simplified 2 rod mechanical arm virtual prototype model to study the dynamics equation of validation. In the ADAMS model of dynamic simulation analysis, the mechanical arm for the joint rotation angle, angular velocity and angular acceleration and moment kinetic parameters, etc. According to the model is deduced Lagrange dynamics equation, through the formula to calculate the joint torque and using the ADAMS of measurement data to verify the correctness of the dynamic equation.