0024-基于ADAMS的四自由度機械手運動學仿真,基于,adams,自由度,機械手,運動學,仿真 摘 要 本文擬在用多體系統(tǒng)動力學軟件ADAMS對四自由度機械手進行仿真分析。首先介紹機械手研究背景，研究現(xiàn)狀及發(fā)展趨勢，闡明研究意義。接著介紹三維實體建模軟件Pro/E，了解其建模過程和建模方法，從而為實體建模打下基礎(chǔ)，接著運用Pro/E建立四自由度機械手的實體模型，并導(dǎo)入ADAMS對其進行仿真分析， 包括首部末端位移曲線圖。接著進行運動學分析，并給出結(jié)論。 關(guān)鍵詞：Pro/E,ADAMS,機械手,運動學仿真 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