Study On Industrial Robot Kinematics Simulation Based On ADAMS

based on the requirements of this paper, the KR 150-2 industrial robots has been studied. Firstly, according to the structure and motion characteristics of the robot, the robot reference coordinate system and the bar coordinate system were determined; based on the homogeneous coordinate transformation matrix of matrix theory, each rods'transformation matrix of the robot's coordinate system and kinematics equations were established, and initial value was substituted into the equations to be verified. Secondly, the robot's mechanical structure has been simplified, the 3-D model diagram of each connecting rod of the robot was established by using CATIA software, and models of connecting rods were assembled together at the same time the robot's assembly diagram was set up. Finally, the model was set into simulation software ADAMS, the connection mode for each joints, drive mode, joint angle velocity function, and run the simulation have been set, and the simulation was run; the displacement, velocity and acceleration curve measured along three coordinate axis were loaded into the same coordinate system, and displacement, velocity and acceleration curves at the end of the robot were finally obtained.