Modular Modeling Analysis for Carving Manipulator Based on SimMechanics and ADAMS

In recent years, the research about modeling methods for robots and computer numerical control (CNC) machines has been developed rapidly. In this paper, in order to reduce the materials cost, according to the kinematic chain characteristics of the serial robot joint, the carving manipulator model is established by using SimMechanics toolbox. At the same time, its' three-dimensional (3D) model is constructed using SolidWorks, which is imported into ADAMS to obtain 3D dynamics model. Then, the two modular models are compared by providing the constant overlap spiral trajectory. The results of simulation show that preset path of the cutting tool can be accurately obtained by using the simulation models, which demonstrate that the modular modeling is a rational and effective technique.