中文摘要：

为提高机械臂设计效率，充分利用了虚拟仿真，搭建了机械臂的虚拟仿真系统。首先在Solidworks中建立了四关节机械臂的实体模型；然后将其导入动力学仿真软件Adams中，进行运动学及动力学仿真；最后通过Adams与Matlab的接口模块Adams／control，利用Matlab／Simulink模块搭建了机械臂的联合仿真控制系统，实现基于Matlab与Adams的机械臂的联合仿真。仿真结果表明机械臂系统具有较好的动态响应特性及较好的轨迹跟踪能力。

英文摘要：

To improve the design efficiency of robot arm,a virtual simulation system was built by making full use of the virtual simulation technology. First, a three-dimensional model of the robot arm with four-freedom was built in Solidworks software; and then,the model was imported into the dynamic simulation software Adams for kinematic and dynamic simulation; At last,through the interface modular part （A dams/control）of Matlab and A dams, robot arm control system was established by using simulink module of Matlab software and coordinated simulation of four-freedom was successfully implemented. The simulation results indicate that the coordinated simulation system of the robot arm has preferable dynamic response characteristics and nicer locus-tracking ability.