关键词: 集装箱；机器人；ADAMS仿真；逆运动学

Abstract:

An opened-chain frame was adopted for the container spray-painting robot.Coordinate of the serial container spray-painting robot with 5 degrees of freedom was set up based on the Denavit-Hartenberg.With the analytic method,the inverse kinematics analysis of robot was
processed.Then,through the simulation of ADAMS,the displacement,velocity and acceleration curves of the end-effector could be obtained.The rationality of
robot mechanical structure was validated.It provides theory foundation for
the faster design and manufacture of the container spray-painting robot.

Key words: container;robot;ADAMS simulation;inverse kinematics