由于液压支架焊接机械臂具有局部闭链机构,导致关节之间的运动传递有诱发现象,当部分关节运动时,相应的关节会产生附加运动。通过Matlab和ADAMS/View软件对含有局部闭链焊接机械臂进行正、逆动力学仿真,分析数据曲线图,总结6个关节角度和力矩随着时间变化的规律,从而为机械臂的设计提供参考和依据。 As the hydraulic support welding arm with a partially closed-chain mechanism, resulting in the movement of joints between the transmission induced phenomenon, when part of the joint movement, the corresponding joint will produce additional movement. Through the Matlab and ADAMS / View software, the mechanical simulation of positive and negative kinematics with partial closed-chain welding robot arm was carried out. The data curve was analyzed and the law of the six joint angles and moments changing with time was summarized to provide a reference for the design of the manipulator And based on.