Kinematics Analysis of a 6-DOF Riveting Manipulator Based on ADAMS

En Liu; Kai Zeng; Sheng Wan Yuan; Gang Wei Cui; Xiao Cong He; Yan Fang Ding; Zhi Wen Ma

doi:10.4028/www.scientific.net/AMR.887-888.1257

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Kinematics Analysis of a 6-DOF Riveting Manipulator Based on ADAMS
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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 887-888Kinematics Analysis of a 6-DOF Riveting...

Kinematics Analysis of a 6-DOF Riveting Manipulator Based on ADAMS

Abstract:

In this paper, a 6-DOF riveting manipulators kinematics model was built by D-H method, and its kinematics problems were discussed. Each of the kinematics parameters was gotten by solving the direct and inverse kinematics functions in Matlab. Then the virtual prototype model of the riveting manipulator was built by ADAMS, and the position, velocity and acceleration in the end center of the riveting manipulator were gotten by the simulation analysis. The reasonability of each linkage design parameters and kinematics model could be verified by simulation results in ADAMS, a foundation could be laid for the further dynamics research.

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Periodical:

Advanced Materials Research (Volumes 887-888)

Pages:

1257-1260

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.887-888.1257

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Online since:

February 2014

Authors:

En Liu, Kai Zeng*, Sheng Wan Yuan, Gang Wei Cui, Xiao Cong He, Yan Fang Ding, Zhi Wen Ma

Keywords:

6-DOF Riveting Manipulator, D-H Method, Kinematics Model, Virtual Prototype Model

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