The Analysis of Kinematic Simulation of 6-DOF Articulated Carrier Robot Based on ADAMS

摘要

It builds the kinematic equation of robot based on the D-H theory,analyzes the solution of the direct and inverse kinematic problem,introduces the process of establishing the robot geometrical model and simulates the kinematic function during its working cycle by ADAMS.It shows the solutions for the inverse kinematic problem of joints,illustrates the characteristic curves of the joint.The simulation results show that real-time control of joints movement can be carried out conveniently and the precision meets the desired.