Dynamic Simulation Experiment Design of Six-Joint Robot Arm
In the classroom teaching of robot dynamics,because students lack perceptual knowledge,it is difficult to understand and master complex dynamic theory.This thesis takes the desktop six-joint robot arm as a case,and designs the robot dynamics simulation experiment based on the environment of Matlab and Adams.A three-dimensional model of the desktop six-joint robot arm was established,and the physical parameters of the robotic arm were obtained.A dynamic model was built by inputting these parameters to Adams.Using Robotics Toolbox Toolbox in Matlab,we got the interpolation data of each joint angle when the end effector of robotic manipulator goes straight.The data was imported into Adams and the motion model of the dynamic model was finally obtained.The dynamic parameters of each joint were obtained through simulation.Through physical dynamic simulation experiments,students understanding of dynamic theory can be enhanced,and students ability to use dynamic knowledge to solve practical problems can be further cultivated.
Six-joint manipulator Dynamics simulation Adams
Hu Ruifei Cen Hongjin Hu Fanglei Luo Yang Zhu Luchuang
School of Manufacturing Science and Engineering, Sichuan University, Chengdu, China
国际会议
The 12th International Conference on Modern Industrial Training(第十二届现代工业培训国际学术会议)
吉林
英文
555-558
2019-10-19（万方平台首次上网日期，不代表论文的发表时间）