基于ADAMS的双臂作业机器人的运动学分析与仿真.pdf

第37 卷第1 期 Vol.37 No.1 井冈山大学学报( 自然科学版) 2016 年1 月 Jan. 2016 Journal of Jinggangshan University (Natural Science) 80 80 井冈山大学学报( 自然科学版) 文章编号：1674-8085(20 16)01-0080-05 基于ADAMS 的双臂作业机器人的运动学分析及仿真 * 1,2 1,2 杨伟超 ，许德章 （1.安徽工程大学机械与汽车工程学院，安徽，芜湖 241000 ；2.芜湖安普机器人产业技术研究院有限公司，安徽，芜湖241007 ） 摘 要：对双臂作业机器人的协调控制问题进行分析，采用D-H 法在直角坐标系下建立了机器人双臂联合运动学 模型。通过在机械臂的每个连杆机构上建立坐标系，得到主机械臂的D-H 参 ，解出主机械臂运动学正解。在已 知约束条件下，通过在末端执行器上添加点驱动，规划单臂运动路径。借助ADAMS 软件运动仿真，在后处理模 块中得到主机械臂各个关节角度随时间变化的曲线图，曲线过渡平滑，角度变化在预先设定的转角范围内，满足 操作任务要求。 关键词：联合运动学模型；D-H 参 ；点驱动 中图分类号：TP242 文献标识码：A DOI:10.3969/j. issn.1674-8085.2016.01.016 KINEMATICS ANALYSIS AND SIMULATION OF DUAL-ARM OPERATION ROBOT BASED ON ADAMS *YANG Wei-chao1,2, XU De-zhang1,2 (1.Engineering Faculty of Mechanical and Automotive of Anhui Polytechnic University,Wuhu,Anhui 241000, China ； 2.Wuhu Ahpu Robot Technology Research Institute Co. ltd,Wuhu,Anhui 241007, China) Abstract: The method of D-H is adopted by establishing the united kinematics model of the arms of robot in the Cartesian coordinate system after analyzing the question of coordinate control for dual-arm operation robot. Through establishing coordinate system in each link mechanism of robot, the D-H parameters of master manipulator are acquired, which are applied for the correct answer of kinematics of master manipulator. In some known constraints, planning motion path of master manipulator by adding point motion on the end effectors. The curves in figure of Joint angle change with time can be acquired in post-processing module after motion simulation by ADAMS. The figure indicates the curves transit smoothly and the angles chan