Research on coordinated simulation of robot arm based on MATLAB and ADAMS

摘要

To improve the design efficiency of robot arm,a virtual simulation system was built by making full use of the virtual simulation technology. First,a three-dimensional model of the robot arm with four-freedom was built in Solidworks software;and then,the model was imported into the dynamic simulation software Adams for kinematic and dynamic simulation;At last,through the interface modular part (Adams/control)of Matlab and Adams,robot arm control system was established by using simulink module of Matlab software and coordinated simulation of four-freedom was successfully implemented. The simulation results indicate that the coordinated simulation system of the robot arm has preferable dynamic re-sponse characteristics and nicer locus-tracking ability.