摘要
通过Pro/E建立六关节弧焊机器人的CAD模型,导入ADAMS软件并通过点驱动的方式,求解各关节角度随时间的变化;通过ADAMS的后处理模块,将测量所得各关节角度随时间的变化曲线转换为样条曲线,在各关节上添加驱动电机,观察求解的准确性;求解所得的各关节角度随时间变化的数据转换为相应的脉冲函数关系,在物理样机上进行驱动。
In this paper,we have established 6-joint welding robot CAD model by Pro / E,which was imported to the ADAMS software,where the joint angle changing with time was solved by point-driven.Through the post-processed module of ADAMS,we have measured the joint angle change accompany time,and converted its curves into spline.Joints were added to driver motor,and its accuracy is observed.The data of the spline is converted pulse function,and applied into physical prototype.This paper provides an effective and rapid method for independent robot system design and debug.
出处
《江南大学学报（自然科学版）》
CAS
2011年第2期196-200,共5页
Joural of Jiangnan University (Natural Science Edition)
基金
常熟市科技计划项目(CG200902)
