Dynamics analysis and simulation for manipulator with five degree of freedom

摘要

In this paper the five dof manipulator has been established based on the kinetic model of manipulator, through the UG, will be built on solid modeling entity model simplified through good introduction to the ADAMS software ADAMS, establish the virtual prototype of manipulator, the dynamic simulation of the joint Angle and joint torque, angular velocity and Angle acceleration curves, analyzed the end manipulator of each joint torque and speed of angular velocity and Angle acceleration. To improve the design performance and reduce cost, reduce product development time, and lays the foundation of robot control.