Kinematics Simulation to Manipulator of Welding Robot Based on ADAMS

摘要

Since the advent of the robots, they are widely applied in many areas of industry all over the world. With the advancement of the robot, many new research theories and technologies are developed on it. The single one impacted much more quickly and significantly is the application of computer offline simulation technology nowadays. Based on some relevant theories of robot, this paper takes the approach of computer simulation toward the offline research for the industrial robot rather than the traditional teaching demonstration method. It built a 3-D model for a kind of Panasonic 6-DOF welding robot in SolidWorks, and imported it into ADAMS to simulate the motion further with the simulation results of expected processing trajectory planning for the six links by using MATLAB. The kinematics simulation produced the processing motion course and relevant kinematics curves. Its results indicate that the manipulator could implement the welding process according to the expected trajectory successfully and the total welding motion process and the poses of the robot just in time could be observed intuitively and dynamically. Also, this simulation lays a foundation for other virtual offline kinematics researches on robot by using relevant computer softwares without the actual robot.