Study on Kinematics Simulation of Multi-Joint Robotic Gripper Based on ADAMS

The article describes how we can use the virtual prototyping technology validate mechanism design of multi-joint manipulator and its grabbing performance and loading abilities per minute. It completes the three-dimensional model of virtual prototype with Solid Edge ST5, and be imported into ADAMS software. And then the manipulator kinematics simulation is carried out in ADAMS. Using the kinematics simulation technology of ADAMS, we can get the various joints in a working cycle of the displacement characteristic curve, the velocity and acceleration curves of working conditions. This paper introduces how to establish the geometric model of articulated robot virtual prototype model. And some key technology details such as adding a constraint to model are also described. Kinematics simulation analysis of the manipulator with ADAMS software can greatly shorten the design cycle, improve design accuracy and reduce the cost of product development.