Performance Analysis And Optimal Design Of Robot System Based On ADAMS

With the rapid development of science and technology, Robots with various functions have more and more impact on people’s lives in social life. As an important part in the field of the robot study, the virtual prototype technology has been widely used for its adavantage of improving design performance and reducing design costs and development time of product.The paper studies a robot system of serial links with six degrees of freedom. After refining its analysis model, the virtual prototype technology is used to establish and analyze its parametric model for the goal of improving the robot structure and achieving its best performance. The main contents are as follows:(1)As for the kinematics of the robot, the Denavit-Hartenberg matrix method is used to help create a robot coordinate system which will help establish the parametric model and analyze the forward and inverse kinematics of the robot.Then the paper uses the virtual prototype simulation software ADAMS to simulate the model of the robot by setting initial design variables and some key points parametrically according to principle that the size proportion of main parts are consistent with the actual robot.(2)To make the robot run smoothly as it is expected, the MATLAB software is combined with to program joint variables of each link when the robot reaches the expected position. Cubic polynomial method is used to interpolate the joint variables to make the trajectory stable and smooth. After the interpolation, the angle function is imported into ADAMS to simulate and the changes of several key parameters change during operation will be analyzed.(3) In order to achieve the simulation of robot dynamics with gap, a two-state motion model is used to establish the dynamics and contact force model. After building the model by ADAMS software, several commonly used tolerance are studied to obtain performance analysis results which will provide experimental basis for the actual manufacturing of the physical prototype.(4)As for the optimal design, after selecting appropriate design variables and designing objective and constraints, design study and optimization are conducted to analyze the robot performance. The design study analyzes the influence degree of the variables to the optimal goal. The optimization calculates the best value of the optimal goal as well as the values of variables.The paper establishes a parametric model of a robot system with six degrees of freedom and analyzes its trajectory program, dynamics with gap and optimal design. The final results can also work as a reference for the actual production and improvement of the industrial manufacturing.