| 点焊机器人驱动系统的逆运动学仿真分析 |
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| 引用本文： | 王海涛,陆由斌,肖平.点焊机器人驱动系统的逆运动学仿真分析[J].安阳工学院学报,2012,11(4):33-35. |
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| 作者姓名： | 王海涛 陆由斌 肖平 |
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| 作者单位： | 1. 安徽工程大学,安徽芜湖,241000
2. 奇瑞汽车股份有限公司,安徽芜湖,241006 |
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| 基金项目： | 2012安徽省高校自然科学项目，2011年芜湖市科技计划项目，安徽工程大学青年科研基金项目 |
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| 摘 要： | 如何确定机器人驱动系统中各轴的运动学与动力学参数是机器人运动学逆解的关键。其传统求解方法需要进行大量的矩阵方程计算,耗时费力,本文以点焊机器人为例给出了一种由ADAMS软件实现的机器人逆运动学求解的仿真分析方法。通过仿真分析,能够便捷地求出各驱动轴的运动曲线,为机器人驱动系统中电机和减速器的选型、系统的运动控制与优化设计提供了依据。
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| 关 键 词： | 点焊机器人 驱动系统 逆运动学 仿真分析 |
The Inverse Kinematics Simulation Analysis of Drives Used in Spot Welding Robot |
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| WANG Hai-tao,LU You-bin,XIAO-Ping.The Inverse Kinematics Simulation Analysis of Drives Used in Spot Welding Robot[J].Journal of Anyang Institute of Technology,2012,11(4):33-35. |
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| Authors: | WANG Hai-tao LU You-bin XIAO-Ping |
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| Institution: | 1 (1 Anhui Polytechnic University,WuHu 241000;2 Chery Automobile Co.,Ltd.WuHu 241006,China) |
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| Abstract: | How to determine the kinematics and dynamics parameters of the axes of robot’s drives is the key to the robot inverse kinematics solution.The traditional solution way needs a lot of matrix equation,but it’ s a time-consuming and laborious work.Taking the spot welding robot for example,this paper presents a simulation analysis method to the robot inverse kinematics solution by ADAMS software.Through the simulation analysis,the drive shafts motion curves can be easily obtained,and it also provides the basis for choosing the model of motor and reducer of robot drives and motion controlling and optimization design of the system. |
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| Keywords: | spot welding robot drives inverse kinematics simulation analysis |
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