Kinematics simulation analysis and trajectory planning of a moving robot based on ADAMS

Abstract

The study of kinematics modeling and simulation of industrial robots is the basis of robot development and optimization. According to the configuration characteristics of a moving robot, the coordinate system and the kinematics equation of the connecting rod are established based on the DH coordinate transformation method. The kinematics positive solution problem is solved in detail. The moving robot is established by the joint simulation of Solid works and ADAMS The motion model of the moving robot is verified by the kinematic analysis, and the displacement and angle curve of the end point are obtained. The rationality of the kinematics model of the moving robot is verified. The trajectory planning of the moving robot is carried out according to the actual situation, the results show that the moving robot is running smoothly and meets the requirements, which provides an important basis for the subsequent control research.