基于ADMAS的码垛机械手仿真

摘要

In order to completerequirements inthe farm haystackhandling , the manipulator is developed suitable for palletizing and handling .Optimization design was carried out for the structure and parameters of palletizing manipulator .As the expression of the wrist required, the kinematics mathematics model and equations were established with D-H method to calculate forward and inverse kinemat-ics, and to find pose of the end actuator .Then UG software was used for the design of three dimensional (3D) model, and the motion trajectory of picking-conveying processof manipulatorwas simulated with ADMAS .Thesimulation results show that the set up kinematics equations are correct , and designed manipulator meets requirements of working trajectory .The manipulator is very operative , which is consistent with the actual situation of the working processinthe farm haystack , andsome theoretical basis is provided fordevelopment of more advanced palletizing manipulator .%为满足农场草垛搬运的要求，研制适合搬运的码垛机械手，对该码垛机械手的结构和参数进行了优化设计，首先采用 D-H方法建立各关节的运动学数学模型，进行运动学正逆求解，求解末端执行器的位姿。其次利用UG软件进行三维模型设计，并通过ADMAS软件对该机械手搬料，放料时的运动轨迹进行仿真分析。仿真结果表明：建立的运动学方程正确，设计的机械手符合工作轨迹要求。该机械手有较强的操作性，适合对农场草垛进行搬运的要求，同时为开发更先进的码垛机械手提供参考。