Study on Kinematics Simulation of Multi-Joint Robotic Gripper Based on ADAMS

2013 ◽  
Vol 444-445 ◽  
pp. 1384-1388
Author(s):  
Bin Hua ◽  
Yi Lin Chi ◽  
Xue Jun Wang ◽  
Quan Bai ◽  
Wei Zhong
Keyword(s):  
Simulation Analysis ◽  
Geometric Model ◽  
Characteristic Curve ◽  
Three Dimensional ◽  
Virtual Prototype ◽  
Prototype Model ◽  
Three Dimensional Model ◽  
Improve Design ◽  
Kinematics Simulation ◽  
Adams Software

The article describes how we can use the virtual prototyping technology validate mechanism design of multi-joint manipulator and its grabbing performance and loading abilities per minute. It completes the three-dimensional model of virtual prototype with Solid Edge ST5, and be imported into ADAMS software. And then the manipulator kinematics simulation is carried out in ADAMS. Using the kinematics simulation technology of ADAMS, we can get the various joints in a working cycle of the displacement characteristic curve, the velocity and acceleration curves of working conditions. This paper introduces how to establish the geometric model of articulated robot virtual prototype model. And some key technology details such as adding a constraint to model are also described. Kinematics simulation analysis of the manipulator with ADAMS software can greatly shorten the design cycle, improve design accuracy and reduce the cost of product development.

Design and Simulation Analysis of the Manipulator Used to Feed Gems

2013 ◽  
Vol 364 ◽  
pp. 365-369
Author(s):  
Xiao Lin Deng ◽  
Heng Bing Wei
Keyword(s):  
Simulation Analysis ◽  
Three Dimensional ◽  
Dynamics Simulation ◽  
Kinematics And Dynamics ◽  
Prototype Model ◽  
Dimensional Model ◽  
Three Dimensional Model ◽  
Adams Software ◽  
Working Principle ◽  
Design Requirements

This paper studies and designs the gems feeding manipulator, makes a detailed analysis of the overall structure and working principle of the manipulator, and establishes the three-dimensional model of the manipulator. The virtual prototype model of the manipulator is built in ADAMS software. Use simulation analysis functions of ADAMS to carry out kinematics and dynamics simulation analysis on manipulator, obtaining parameter curves of the manipulator such as position, speed and torque, which verifies it feasible to use manipulator to unload and load gems, achieving the design requirements.

Dynamic Simulation Analysis of the Crane Hoisting Process Based on Adams

2014 ◽  
Vol 940 ◽  
pp. 132-135 ◽  
Author(s):  
Yi Fan Zhao ◽  
Ling Sha ◽  
Yi Zhu
Keyword(s):  
Dynamic Simulation ◽  
Simulation Analysis ◽  
Three Dimensional ◽  
Wire Rope ◽  
Dynamics Simulation ◽  
Dimensional Model ◽  
Analysis Model ◽  
Three Dimensional Model ◽  
Adams Software ◽  
Simulation Results

Established the dynamics simulation analysis model of crane hoisting mechanism based on the theory of dynamics in Adams software, and then through the three dimensional model of lifting mechanism dynamics entities, the constraints, load, drive can be added, the motion law can be defined to simulation analysis the change of the force of wire rope, the change of displacement, velocity and acceleration of lifting weight in the lifting process. On the basis of the simulation results, it can make a great improvement for the structure of crane and provide a meaningful theoretical reference for the hoisting machinery innovation design.

Kinematics Simulation Analysis of a Kind of Pedal Rehabilitation Robot

2014 ◽  
Vol 602-605 ◽  
pp. 848-852
Author(s):  
Wen Long Wang ◽  
Ji Rong Wang
Keyword(s):  
Lower Limb ◽  
Simulation Analysis ◽  
Three Dimensional ◽  
Lower Limbs ◽  
Rehabilitation Robot ◽  
Movement Trajectory ◽  
Three Dimensional Model ◽  
Kinematics Simulation ◽  
Limb Rehabilitation ◽  
Lower Limb Rehabilitation

This paper describes the design of the gait mechanism of pedal lower limb rehabilitation robot based on people’s heel movement trajectory curve in the normal walking. It is established the kinematics mathematical model of a pedal lower limbs rehabilitation robot and the simplified three-dimensional model with Pro/e software, then it is simulated kinematics using ADAMS software. The simulation result is shown that this pedal lower limbs rehabilitation robot can achieve the expected rehabilitation exercise and run smoothly. Kinematics analysis and simulation of pedal rehabilitation robot is provided the necessary theoretical basis and parameters for the study of lower limb rehabilitation machinery.

Tilt Analysis and Control in Climbing Process of Tree-Pruning Robot

2014 ◽  
Vol 1039 ◽  
pp. 345-352
Author(s):  
Guang Hua Fu ◽  
Xue Mei Liu ◽  
Jin Yuan
Keyword(s):  
Software Design ◽  
Control Method ◽  
Three Dimensional ◽  
Virtual Prototype ◽  
Prototype Model ◽  
Motor Speed ◽  
Adams Software ◽  
Simulation Results ◽  
And Control ◽  
Tree Pruning

Tree-pruning robot can appear tilt problem in the climbing process because of the trunk shape and mechanical mechanism of its climbing legs. According to the robot's tilt problem, this paper guarantees the level of tree-pruning robot using the method of controlling the motor speed at different locations. This paper establishes a three-dimensional virtual prototype model about tree-pruning robot in ADAMS software, design controller in Matlab software, and conduct ADAMS-Matlab co-simulation. The simulation results and experimental prototypes show that the designed control method can effectively overcome the tilt problem in the crawling process.

Obstacle Performance of Track Robot with Passive Rocker Based on Recurdyn

2013 ◽  
Vol 397-400 ◽  
pp. 1580-1588
Author(s):  
Man Lu Liu ◽  
Jing Zhang ◽  
Kuan Li
Keyword(s):  
Three Dimensional ◽  
Simulation Software ◽  
Dynamics Simulation ◽  
Prototype Model ◽  
Dimensional Model ◽  
Three Dimensional Model ◽  
Kinematics Simulation ◽  
Body Dynamics ◽  
Set Up ◽  
Multi Body

To solve the instability of track robot in the process of climbing obstacles, a track robot with passive rocker was designed and a three-dimensional model of track robot was developed by Unigraphics NX in this paper. Furthermore, the kinematic analysis was made for obstacle performance of the track robot. The virtual prototype model of the track robot with passive rocker was set up by using the tracked vehicle subsystem of multi-body dynamics simulation software RecurDyn and kinematics simulation for this robot was made. The simulation results verify the feasibility of the machine and provide some theoretical guidance for developing the obstacle performance of track robot.

Study on Dynamic and Virtual Prototyping of Artillery Ramming Device

2014 ◽  
Vol 926-930 ◽  
pp. 1425-1428
Author(s):  
Peng Cheng Yan ◽  
Chi Yu Hao ◽  
Hua Gang Sun ◽  
Chao Liu
Keyword(s):  
Virtual Prototyping ◽  
Three Dimensional ◽  
Virtual Prototype ◽  
Simulation Software ◽  
Prototype Model ◽  
Engineering Analysis ◽  
Dimensional Model ◽  
Three Dimensional Model ◽  
Loading System ◽  
Automatic Loading

In order to create a virtual prototype model to meet the engineering analysis, the dynamical model of ramming device in the automatic loading system is built and solvedby using an equivalent SDOF mechanical model, then three-dimensional model is built and imported to RecurDyn, a simulation software,then the virtual prototype is established completely, the result of simulation show that the virtual prototype model is reasonableand can be used for analysis and research of dynamics.

Dynamic Simulation Analysis on Slider-Crank Mechanism of the Mechatronics Fitness and Entertainment Machine Based on ADAMS

2015 ◽  
Vol 713-715 ◽  
pp. 213-216
Author(s):  
Yu Tian ◽  
Min Liu ◽  
Xiao Xi Xu
Keyword(s):  
Theoretical Analysis ◽  
Dynamic Simulation ◽  
Simulation Analysis ◽  
Three Dimensional ◽  
Virtual Prototype ◽  
Dimensional Model ◽  
Three Dimensional Model ◽  
Time Curve ◽  
Acceleration Time ◽  
Crank Mechanism

Constraints and a driving were imposed to the three-dimensional model of slider-crank mechanism of the Mechatronics Fitness and Entertainment Machine modeled and assembled by UniGraphics 6.0 for dynamic simulation analysis in order to get velocity-time curve and acceleration-time curve. Usability of model was verified by comparing to the result of theoretical analysis of slider-crank mechanism. Finally, it was achieved to design the virtual prototype.

Mechanism Design and Kinematics Simulation of Massage Mechanical Arm

2011 ◽  
Vol 101-102 ◽  
pp. 279-282 ◽  
Author(s):  
Jun Xie ◽  
Jun Zhang ◽  
Jie Li
Keyword(s):  
Mechanism Design ◽  
Three Dimensional ◽  
Forward Kinematics ◽  
Kinematics Analysis ◽  
Dimensional Model ◽  
Three Dimensional Model ◽  
Kinematics Model ◽  
Kinematics Simulation ◽  
The Common ◽  
Executive Mechanism

Based on the characteristics and the common massage manipulations of Chinese medical massage, a practical series mechanical arm was presented to act the manipulations with the parallel executive mechanism. Forward kinematics was solved by the Denavit-Hartenberg transformation after the kinematics model of the arm was established. And the three-dimensional model of the arm was created by Pro/E and was imported into ADAMS for the kinematics analysis. The results indicated that the common massage manipulations could be simulated by the arm correctly and flexibly, and it verified the accuracy of the mechanism design of the arm.

Forklift Hydraulic System Simulation Based on ADAMS

2012 ◽  
Vol 424-425 ◽  
pp. 598-602 ◽  
Author(s):  
You Min Wang ◽  
Chun Zhao ◽  
Jian Hua Zhang
Keyword(s):  
Hydraulic System ◽  
Production Cost ◽  
Control Function ◽  
Three Dimensional ◽  
Improve Design ◽  
Kinematics Simulation ◽  
Simulation Based ◽  
Motion Speed ◽  
Work Size ◽  
Control Functional

In order to improve design performance, shorten development cycles, reduce production cost, we design and research the forklift hydraulic system, developed forklift hydraulic system diagram. Forklift virtual prototype’s 3-D solid modeling is designed by Pro / E three-dimensional software, and imported into the ADAMS environment. Add constraints and drivers exert the control function separately to the tilting cylinder and lifting cylinder, carry on the kinematics simulation. Through the analysis to the compound motion actuation control functional arrangement、the compound motion speed graph、the gate’s tilt angle graph、the tilting cylinder stress graph and the lifting cylinder stress graph, he simulation result indicated: each cylinder design is reasonable, the movement without interference，the reasonable work scope satisfied to the work size request

Simulation Analysis of Pneumatic on-off Pressure Mechanism on Printing Press

2010 ◽  
Vol 154-155 ◽  
pp. 1481-1484 ◽  
Author(s):  
Jun Zhong Guo ◽  
Jun Ping Yang
Keyword(s):  
Kinematic Analysis ◽  
Simulation Analysis ◽  
Angular Displacement ◽  
Three Dimensional ◽  
Printing Press ◽  
Work Demand ◽  
Analysis Process ◽  
Adams Software ◽  
Important Basis

The on-off pressure mechanism has an important function to the printing press, the quality of which concerns the working performance of the printing machine and the quality of printed products directly. In this paper, the pneumatic on-off pressure mechanism is discussed; the work demand of order on-off pressure is analyzed. In addition, the three-dimensional digital model and the kinematic analysis process can be achieved on the basis of ADAMS software. What’s more, the on pressure value in the process of on pressure is derived from the kinematic analysis. Lastly, the relation between the motion of on-off pressure mechanism and cylinder’s angular displacement is analyzed, an important basis to the on-off pressure mechanism’s optimal design will be provided.

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