基于ADAMS的路锥收放机械手虚拟样机建模与仿真分析

摘要

Based on the 3D Parametric modeling of SolidWorks,the 3D entity model of the robot is constructed and with the explanation of the tasks,the trajectory planning of the robot was found out by using the Robotics Toolbox for the Matlab.In addition,combine the two aspects of calculating the data in Matlab and building a virtual physical model in ADAMS then go on the simulation and analy sis.Based on the simulation,we observe the mo tion of the robot's joints and obtain the data that we need.These provide the theoretic foundation and main parameters for the system design,manu facture and simulated motion of the cones placing and retrieving robot.%利用SolidWorks软件建立路锥收放机械手三维实体模型,根据机械手的工作任务要求,在Matlab中建立数学模型,进行运动轨迹规划,反解出各关节运动参数.利用解算得到的数据,在ADAMS虚拟样机软件中进行仿真研究.通过仿真观察各关节的运动并获得驱动力矩、角速度和角加速度等参数,为路锥收放机械手系统的设计、制造和模拟运动作业提供了理论依据和主要参数,为动态特性优化设计提供理论指导.