河南科技学院
2009届本科毕业论文（设计）
论文题目：基于ADAMS的四自由度机械手运动学仿真
学生姓名：杨书敏
所在院系：机电学院
所学专业：机械设计制造及其自动化
导师姓名：付素芳
完成时间：2009年05月20日
摘 要
本文拟在用多体系统动力学软件ADAMS对四自由度机械手进行仿真分析。首先介绍机械手研究背景，研究现状及发展趋势，阐明研究意义。接着介绍三维实体建模软件Pro/E，了解其建模过程和建模方法，从而为实体建模打下基础，接着运用Pro/E建立四自由度机械手的实体模型，并导入ADAMS对其进行仿真
分析，
包括首部末端位移曲线图。接着进行运动学分析，并给出结论。
关键词：Pro/E,ADAMS,机械手,运动学仿真
Abstract
This article plans to use multibody system dynamics software ADAMS to carry on the simulation analysis to the four degrees-of-freedom manipulators. First introduced that the manipulator studies the background, the research present situation and the trend of development, the exposition research significance. Then introduction three dimensional entity modelling software Pro/E, understands its modelling process and the modelling method, thus builds the foundation for the entity modelling, then establishes the four degrees-of-freedom manipulator's full-scale mockup using Pro/E, and inducts ADAMS to carry on the simulation analysis to it, including the first terminal displacement diagram of curves. Then carries on the kinematic analysis, and gives the summary.
Keywords: Pro/E, ADAMS, Manipulator, Kinematics Simulation