基于虚拟样机技术的机器人空间轨迹实现及仿真分析

摘要

According to the virtual prototype technology can greatly reduce the costs of product development and it is good at analyzing and testing.Using UG to establish the robot prototype model,then import ADAMS to create virtual prototype.Realizing the robot in Adams in spatial arbitrary trajectory function based on the robot kinematics principle and MATLAB.Through the simulation computation,Analyses the related parameters of the robot motion characteristics.The result for the development of the physical prototype provides a good reference,also for the future to lay the foundation for robot collision detection.%针对虚拟样机技术能极大的减少产品开发成本,同时能很好的对产品进行分析和测试的特点.为了分析机器人运动轨迹特性,采用UG建立机器人样机模型,并将其导入ADAMS中创建虚拟样机.根据机器人运动学原理,结合MATLAB编程计算,对获取的数据采用样条函数驱动关节运动,实现了机器人多体系统在ADAMS中进行空间任意轨迹运动的功能.通过仿真求解,分析了机器人相关参数的运动特性.其结果为物理样机的研制提供了很好的参考依据,也为机器人碰撞检测打下基础.