中文摘要：

按照机器人设计要求对机器人进行了本体机械设计,并借助SolidWorks绘出其三维实体模型;然后将该虚拟机器人导入ADAMS平台,再参照机器人实际的几何参数、物理特性以及约束条件,建立了该机器人的动力学仿真模型,同时在接近机器人最大载荷处进行空间轨迹跟踪的仿真。仿真结果证明了本体机械设计的合理性,并为继续优化机器人结构和提升控制品质的后续研究工作提供了有价值的数据信息。

英文摘要：

The mechanical structure of the robot was designed according to the design requirements,and the solid model was built using SolidWorks,then the systematic dynamics simulation model was built in ADAMS,on the basis of the robot＆#39;s actual geomet-rical parameters,physical characteristics and constraint conditions. Through the simulation of space trajectory tracking in the position of maximum load of the robot,the rationality of the design is proved and it provides valuable information for the follow-up research work of optimizing the robot structure and enhancing the control quality.