基于ADAMS的刹车片上下料机器人运动学建模与仿真

针对目前刹车片冲压生产存在的问题，提出采用机器人替代人工实现刹车片冲压自动上下料。根据刹车片冲压工艺及上下料功能需求对上下料机器人进行了总体设计，基于SolidWorks设计出机器人三维模型，基于D-H位移矩阵法建立机器人运动学数学方程，并通过ADAMS软件进行运动仿真分析，得到机器人末端的轨迹、位姿及关节速度信息，通过仿真验证了设计的正确性和准确性。

ADAMS-based kinematic modeling and simulation of the brake pad feeding robot

In response to the problems that are associated with the production of brake pad stamping, we propose the usage of a robot instead of manual operation to automatically load and unload materials during brake pad stamping. The overall design of feeding robot was conducted in accordance with the stamping process of the brake pad and the feeding requirements. A three-dimensional robot model was designed using SolidWorks, and the kinematic equations of the robot were established using the D-H displacement matrix method. The simulation analysis of robot motion was performed using the ADAMS software, indicating that the data with respect to the trajectory, pose, and joint velocity of the endpoint were obtained and verifying the design accuracy.