机械制造与自动化2024，Vol.53Issue(2)：188-192,5.DOI:10.19344/j.cnki.issn1671-5276.2024.02.040
R20机器人仿真分析与试验
R20 Robot Simulation Analysis and Test
摘要
Abstract
Taking the serial joint robot as the research object,the robot kinematics model of D-H method is established according to the robot structural parameters to derive the robot kinematics equation.The dynamic simulation analysis of the robot is carried out using ADAMS software,the data of the driving torque of each joint changes with time is calculated,and the maximum dynamic load of each joint calculated by dynamics is taken as the mechanical condition of the robot structural design and finite element calculation to conduct finite element simulation analysis on robot casting.With the establishment of experimental platform,the robot's position repeatability,posture repeatability,repetitive positioning accuracy,position stability time and position overshoot are tested,an their experimental data are sorted out and analyzed.The simulation calculation and experimental results verify that the robot design is reasonable and meets the index requirements as designed.关键词
机器人/运动学/有限元/ADAMSKey words
robot/kinematics/finite element/ADAMS分类
信息技术与安全科学引用本文复制引用
陈朋威,高飞,邬凯..R20机器人仿真分析与试验[J].机械制造与自动化,2024,53(2):188-192,5.基金项目
陕西省教育厅服务地方专项(22JC005) （22JC005）
