摘要
在机械臂的优化设计中,为了提高机械臂的效率,采用了一整套虚拟样机仿真技术。首先在PROE中构建了七自由度机械臂的三维实体模型;然后将其导入ADAMS动力学自动分析软件中进行动力学分析,将ADAMS中仿真出的力和速度曲线进行合成后得到的功率曲线与从物理样机上实测出的功率结果进行比较,进而验证ADAMS中得出的分析数据真实可信;最后研究了基于MATLAB和ADAMS的联合仿真,并以该机械臂为例通过PID策略较好地实现了机械臂的关节定位控制。改进方法对机械臂的开发和改造有一定的指导意义,并且为后续机械臂的研究奠定了基础。
In order to improve the efficiency of developing robot arm, a set of virtual prototype simulation tech- nology was used. First, the 3 - D solid model of the 7 - dof arm was built PROE ; then, the model was imported into the dynamics automatic analysis software ADAMS for dynamic analysis, and the power curve synthesized from force and velocity curves simulated from ADAMS was compared with the measured results to illustrate the analysis data from ADAMS authentic ; finally, research on co - simulation based on MATLAB and ADAMS was done, which dem- onstrated with the satisfactory positioning control of arm joints with PID strategy. Such method not only contributes certain significance to the development and transformation of arms, but lays the foundation for the follow - up re- search.
出处
《计算机仿真》
CSCD
北大核心
2012年第8期282-286,共5页
Computer Simulation
关键词
机械臂
动力学仿真
联合仿真
定位控制
Robot arm
Dynamic simulation
Co - simulation
Positioning control
