The Dynamic Analysis Of The Multiple-joint Robot Based On ADAMS Virtual Console

Generally speaking, the dynamic analysis of General System Structure of Multi-joint Robot belongs to the category of holonomic system on the condition of ideal constraint and multi-rigid body system dynamics. The main subjects of study on robots dynamics shown as two: The first is to optimal control, that is to say, to improve the dynamic and static quality of robot control, and to implement efficientlly trajectory tracking based on the control logic of robot dynamic characteristics; the second is structure optimization, a reasonable designed robot system should have as light as possible nonlinear and coupling, adopt the most appropriate driving force. This paper deals with the basic part of the above goals. That is to carry out the kinematics and dynamic calculation of the General System Structure of 6-DOF Robot by our college, and make corresponding simulation analysis.In the paper, it establishes the motion reference coordinate system of serial 6-link manipulator and the simplified-structure of the Multi-rigid body dynamics model. After kinematic and dynamic analysis, it presents kinematic equation and Jacobi matrix of the robot. And it educes the second kind of Lagrange dynamic equation group for the simplified-structure of the Multi-rigid body system.The paper also utilizes ADAMS virtual prototype technology to carry out the dynamic simulation of the robot system ,taking the influence of gravity load into account: Firstly, based on the 3D parametric modeling of Pro/E Wildfire, it constructs the 3D entity model of the General System Structure of 6-DOF Robot. Then it uses special interface module Mechanism/Pro to input the virtual prototype machine into ADAMS. Practical geometric parameters, physical characteristics and restriction relations are adopted to establish its kinematic simulated model. Moreover, under the gravity load, it takes the sky trajectory tracking simulating and acuires a sery of important datums, which will be great significance to the further research on structure optimization and improving control quality of the robot.Compared with other simulation methods which construct simulation platforms by various programming languages, ADAMS virtual Prototype Technology can combine all items together. Thus the efficiency may be improved greatly, and the limits of other methods can be avoided, such as the complexity of programming, time and human resource waste and the high demand...