A Study on the PUMA560 Robot Motion in ADAMS/View

Abstract:

It proposes an efficient method for kinemics analysis of PUMA560 robot in ADAMS/View in this paper. Comparing with the past, it builds a virtual model of the robot in ADAMS/View. By the way of dynamic simulation, the normal solutions and inverse solutions of the PUMA560 robot are obtained, and this can provide a good study basis for the operability degree and space locus analysis of this kind of mechanics. In addition, a parameterized virtual model of the robot can be build by the ADAMS secondary development technology (APDL), which can accomplish multiple dynamics analysis of the similar kind of mechanics and provide a reliable method for analyzing the effects of mechanical random errors on its motion. This new method needs not to build complex analogue to solve the mechanic, conveniently, shortcut and accurately, and have definite theory meaning and application value in dynamic analysis.

• Periodical: Applied Mechanics and Materials (Volumes 313-314)
• Pages: 928-931
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.313-314.928
• Online since: March 2013
• Authors: Chang Li, Xing Han, Chun Yu Wei, Guang Bing Zhao
• Keywords: ADAMS/VIEW, Dynamic Simulation, PUMA560 Robot, Virtual Model

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DOI: 10.1016/s0734-743x(99)00047-0