虛擬6r切削機器人動力學研究【畢業(yè)設計說明書】

1、編號：畢業(yè)設計(論文)說明書題目：虛擬虛擬6R切削機器人切削機器人動力學研究動力學研究院(系)：機電工程學院專業(yè)：機械電子工程學生姓名：學號：指導教師單位：機電工程學院姓名：職稱：副教授題目類型：?理論研究?實驗研究?工程設計?工程技術(shù)研究?軟件開發(fā)AbstractWiththecontinuousdevelopmentofvirtualprototypingtechnologypeopleincreasinglywanttocreat

2、eavirtualphysicalmodelalsotoestablishacontrolmodelatthesametime.UsingADAMSMATLABtomakecosimulationistheprocesswhichusesADAMStocreateavirtualprototypeofthesystemmodelinthedesigningofamechanicalsystemwithacontrolsystemimpt

3、sthemintoMATALBcontrolsystemfdesigningvirtualprototypingdebuggingthenfeedbackstothemechanicalsystems.Wecanbeabletofindoutthedesigningpotentialdefectsgetasolutionintimeintheearlystagesofproductresearchdevelopmentbyvirtual

4、experimentstests.Virtualprototypingtechnologyprovideasagoodplatfmfindustrialresearchdevelopment.Itcansavetheconsumeofinputsintheresearchstageofproductdevelopmentsimulatevariousparametersftestingenvironmenttherefeitcancol

5、lectthefeedbackinfmationeasilyitisthefoundationgfimprovementofproduct.InthispaperthethreedimensionalgeometricalmodeloftherobotshouldbebuiltbySolidwks.ThemechanisticmodelallkindsofinputoutputparametersarebuiltbyADAMSthebi

6、cyclerobot’scontrolmodelwillbebuiltinMATLABSimulink.InthispaperthevirtualprototypingtechnologyrelatedissuesfromADAMSMATLABsimulationtoexpleintegratedtheadvantagesofboththeestablishmentoftwojointprogramstocontrolthemoveme

7、ntofthecuttingrobotfinstancethefeasibilityofthemethod.Inthispapercompletedthefollowingwk:(1)Cuttingrobotkinematicsanalysis.(2)TheuseofthreedimensionalmodelingsoftwareSolidwkstocreatethreedimensionalsolidmodel.(3)Threedim

8、ensionalsolidmodelintoADAMSsoftwaretocreateavirtualprototypemodel.(4)PlanningfcuttingrobottrajectytheuseofADAMSMATLABSimulinkcosimulation.Comparedwithotherstudiescosimulationatthesametimetocreateavirtualprototypecomplete

9、dtheestablishmentofthecontrolsystemmodel.Thoughthevirtualexperimenttestthepotentialdefectcouldbediscoveredintheelementarystageoftheproductdevelopmentthepotentialdefectcouldbemadeupintime.Atthesametimetheresultsshowedthat