Modeling and Simulation Research of Kane Dynamics Method for the 5-DOF Modular Industrial Robot

摘要

In this paper, The Kane Dynamics Modeling and solid model by Adams are established for the 5-DOF modular industrial robot. Dynamics model equations are derived by that the Joints practical input parameters and Kane dynamics method. The Kane modeling is simulated in the Matlab and the solid model is simulated in the Adams. Simulation experiments show that models are effective by the typical mission planning and executed. By comparing the difference of the Kane model and solid model, Torque-time curve of the Kane is optimizing through the difference of two models. And this model is feasible for 5-DOF industrial robot.