Kinematic Simulation of Serial Mechanism Based on ADAMS

Xiao Yan Qi; Chun Xiang Pan; Gui Qin Chen; Xiang Li

doi:10.4028/www.scientific.net/AMR.945-949.142

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 945-949Kinematic Simulation of Serial Mechanism Based on...

Kinematic Simulation of Serial Mechanism Based on ADAMS

Abstract:

Kinematics analysis of mechanism refers to analysis for pose、speed and acceleration of mechanism end manipulator. In this paper, the manipulator of MOTOMAN UP50 is firstly regarded as object, then setting up its pose equation by way of D-H, simulating its kinematics by software of Adams, the real time results of pose、speed and acceleration of robot in different conditions have been obtained. Therefore, it makes sense in kinematic performance of joint robot and prepares for further research of kinetic and controlling properties.

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Periodical:

Advanced Materials Research (Volumes 945-949)

Pages:

142-146

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.945-949.142

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Online since:

June 2014

Authors:

Xiao Yan Qi*, Chun Xiang Pan, Gui Qin Chen, Xiang Li

Keywords:

Kinematics, Serial Mechanism, Simulation of ADAMS

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* - Corresponding Author

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