基于ADAMS的四自由度機(jī)械手運(yùn)動(dòng)學(xué)仿真,基于,adams,自由度,機(jī)械手,運(yùn)動(dòng)學(xué),仿真 摘 要 本文擬在用多體系統(tǒng)動(dòng)力學(xué)軟件ADAMS對(duì)四自由度機(jī)械手進(jìn)行仿真分析。首先介紹機(jī)械手研究背景，研究現(xiàn)狀及發(fā)展趨勢(shì)，闡明研究意義。接著介紹三維實(shí)體建模軟件Pro/E，了解其建模過(guò)程和建模方法，從而為實(shí)體建模打下基礎(chǔ)，接著運(yùn)用Pro/E建立四自由度機(jī)械手的實(shí)體模型，并導(dǎo)入ADAMS對(duì)其進(jìn)行仿真分析， 包括首部末端位移曲線圖。接著進(jìn)行運(yùn)動(dòng)學(xué)分析，并給出結(jié)論。 關(guān)鍵詞：Pro/E,ADAMS,機(jī)械手,運(yùn)動(dòng)學(xué)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