基于ADAMS的机械手臂运动仿真分析-李金恒

20098378MACHINETOOLHYDRAULICSAug.2009Vol.37No.8DOI:10.3969/j.issn.1001-3881.2009.08.067:2008-07-28:(1983—),,,。:13560380695,E-mail:[e-mail]。基于ADAMS的机械手臂运动仿真分析李金恒,肖慧,胡志华(华南理工大学机械与汽车工程学院,广东广州510640):Pro/E,MECHANISM/Pro,ADAMS,。,,,。:;;:TP391　　:A　　:1001-3881(2009)8-206-4KinematicsSimulationofMechanicalArmBasedonADAMSLIJinheng,XIAOHui,HUZhihua(SchoolofMechanicalandAutomotiveEngineering,SouthChinaUniversityofTechnology,GuangzhouGuangdong510640,China)Abstract:ThethreedimensionalmodelofthemanipulatorwasbuildedupbyusingPro/Esoftware.TherigidbodyofthemodelwasdefinedthroughtheMECHANISM/Proplug-in,andthemodelwasimportedintoADAMSsoftwareandturnedintoavirtualproto-typeofthemanipulator.Somecharacteristicsofthemanipulatorweresimulatedandverified,andaprototypewasprovidedforthetestofthecontrolsystem.Keywords:Manipulator;Kinematicssimulation;Virtualprototype0　,,,,。,,,。[1]。ADAMS,ADAMS,,,。Pro/E,Mechanism/ProADAMS,,D-H,,。1　1.1　机械手臂的三维模型建立Pro/E,Pro/E1。,,、、,、、、。5,,6,。1　1.2　机械手臂虚拟样机的建模2　ADAMS3　Pro/EMechanism/Pro,AD-AMS。,,、,。,(Ground),。23ADAMS。2　4　D-H[2]DenauuitHartenbery1956,,4,,。D-H,4。D-H1。1　D-Hαi/(°)li/mmdicosαsinα1θ1000102θ2900d013θ30l1=6500104θ40l2=6620105θ5-90l3=32400-1　　1D-H,[2]T5=nXoXaXPXnYoYaYPYnZoZaZPZ0001(1):nX=cos(θ1+θ2)cos(θ3+θ4+θ5)oX=-sin(θ1+θ2)aX=-cos(θ1+θ2)sin(θ3+θ4+θ5)PX=l3cos(θ1+θ2)cos(θ3+θ4+θ5)+l2cos(θ1+θ2)cos(θ3+θ4)+l1cos(θ1+θ2)cosθ3nY=sin(θ1+θ2)cos(θ3+θ4+θ5)oY=cos(θ1+θ2)aY=-sin(θ1+θ2)sin(θ3+θ4+θ5)PY=l3sin(θ1+θ2)cos(θ3+θ4+θ5)+l2sin(θ1+θ2)cos(θ3+θ4)+l1sin(θ2+θ3)cosθ3nZ=sin(θ3+θ4+θ5)oZ=0aZ=cos(θ3+θ4+θ5)PZ=l3sin(θ3+θ4+θ5)+l2sin(θ3+θ4)+l1sinθ3+d2X、Y、Z3;PX、PY、PZ;d221;θii;lii;n、o、a。,,。,[3-5]。。,,,,。·207·8:ADAMS　　　,,6,。T5,,,,,,:θ1=arctanPYPX180°+arctanPYPX(2)θ2=α,θ2+θ3=β,θ2+θ3+θ4=γPZ=d+l1sinα+l2sinβ+l3sinγ±P2X+P2Y=l1cosα+l2cosβ+l3cosγa(Z)γsinγ=aZ※γ=arcsinaZPZ-d-l3sinγ=A,±P2X+P2Y-l3cosγ=Bθ2=α=arcsinA2+l21+B2-l222l1A2+B2-arctanBA(3)β=arctanPZ-l3sinγ-l1sinα±P2X+P2Y-l3cosγ-l1cosαθ3=β-θ2(4)θ4=γ-θ2-θ3(5),,,nZ=sin(θ3+θ4+θ5)aZ=cos(θ3+θ4+θ5)θ5=arctannZaZ-θ3-θ4(6)3　3.1　机械手臂的工作域仿真。,,[6-7]。,,,。。、、(Rotationjointmotion),,Function(time),::STEP(time,5.0,0.0d,10.0,180.0d)+STEP(time,20,0.0d,25,-180.0d)。:STEP(time,0.0,0.0d,5.0,-180.0d)+STEP(time,10,0.0d,15.0,90.0d)+STEP(time,25,0.0d,30,90.0d)。:STEP(time,15,0.0d,20.0,90.0d)+STEP(time,25,0.0d,30.0,-90.0d)。,0。,,(Rotationjointmotion),,Function(time)0,,0。,Marker(),5。5　XY,ADAMS/Postprocessor,,,6。6　XY·208·373.2　机械手臂的动态仿真ADAMS/View。ADAMS/View,。,,。、。,0。XY,;θ2、θ3θ4(Angle),。7。7　θi7(s),,。AngleSecond、AngleThree、AngleFourθ2、θ3θ4;XYXY。7,。7,,,(1)。;,,(2)—(6)。。,ADAMS/View,,,。4　Pro/E,Mechanism/Pro,ADAMS,。,,,,,。:【1】,,.[J].,2006,34(2):205-210.【2】,.[M].:,2006.【3】ThomasGSugar,VijayKumar.ControlofCoorperatingMo-bileManipulators[J].IEEETransactiononRoboticsandAutomation,2002,8(1):94-103.【4】ChunyanGao,MingluZhang,LingyuSun.MotionPlanningandCoordinatedControlforMobileManipulators[C]//IEEEConferenceonControl,Automation,RoboticsandVi-sion,2006.12:1-6.【5】JindongTan,NingXi.Unifiedmodelapproachforplanningandcontrolofmobilemanipulators[C]//IEEEInternation-alConferenceonRoboticsandAutomation,2001.3:3145-3152.【6】RémiRicard,ClémentMGosselin.OntheDeterminationoftheWorkspaceofComplexPlanarRoboticManipulators[J].MechanicalDesign,1998,120:269-279.【7】.[J].,1996,15(1):11-16.(上接第164页)6　　　,PROFIBUS。:【1】,,.M16C/62P[M].:,2006.【2】,.PROFIBUS[M].:,2006.9.【3】,.PROFIBUS-DP[J].,2007,23(1):48-50.【4】.PWM[J].,2003,21(6):26-30.【5】.[J].,2007,35(8):41-43.·209·8:ADAMS