关键词: 机器人手臂, Adams软件, Matlab/Simulink模块, 联合仿真

Abstract: In order to improve the efficiency of robot arm design and shorten the development cycle.First,a three-dimensional model of the robot arm with six-freedom was built in Solidworks software,then the model was imported into the kinematic and dynamic analysis software Adams to carry out the kinematic analysis,for veryfing the constraint of virtual prototype was correct.Then,through the interface modular part(Adams/Controls)of Matlab and Adams,the virtual prototype was imported into the Matlab,control system was established by Matlab/Simulink module,the imported virtual prototype as part of mechanical system of the coordinated simulation control system.The torque of the joints were dynamic controlled by adopting the method of system control law which were based on calculation method of moment,the simulation results showed that the robot arm had good dynamic response and accurate locus-tracking ability,to provide an effective reference for the design and development of the physical prototype.

Key words: robot arm, Adams software, Matlab/Simulink module, coordinated simulation