《机电工程》杂志,月刊( 详细... )

中国标准连续出版物号 ISSN 1001-4551 CN 33-1088/TH
主办单位浙江省机电集团有限公司
浙江大学
主编赵 群
副 主 编唐任仲、罗向阳(执行主编)
总 经 理罗向阳
出 版浙江《机电工程》杂志社有限公司
地 址杭州市上城区延安路95号浙江省机电集团大楼二楼211、212室
电话Tel+86-571-87041360、87239525
E-mailmeem_contribute@163.com
国外发行中国国际图书贸易总公司
订阅全国各地邮局   国外代号M3135
国内发行浙江省报刊发行局
邮发代号32-68
广告发布登记证:杭上市管广发G-001号

在线杂志

当前位置: 机电工程 >>在线杂志

ADAMS在并联机构运动学分析中的应用

作者:张 静,许东来* 日期:2010-11-15/span> 浏览:3074 查看PDF文档

ADAMS在并联机构运动学分析中的应用

张 静,许东来*

(北京工业大学 机电学院,北京 100124)

摘要:针对并联机构的运动学分析计算,以3UPS/UP型并联机构为例,介绍了应用动力学仿真分析软件ADAMS对其进行运动学仿真的方法与步骤。采用三维CAD软件Inventor建立了几何模型,以Parasolid格式导入ADAMS环境,对几何模型施加约束与激励,建立了并联机构的虚拟样机模型。并对模型进行了逆向与正向运动学仿真,快速准确地求得了并联机构的运动学反解与正解,大大简化了计算过程,为并联机构的运动学分析及机构设计提供了借鉴。
关键词:并联机构;仿真分析;ADAMS;正解
中图分类号:TH112;TH123
文献标识码:A〖文章编号:1001-4551(2010)09-0057-04

Application of ADAMS in parallel robots kinematics analysis
ZHANG Jing, XV Donglai
(College of Mechanical Engineering and Applied Electrics Technology, Beijing University of Technology, Beijing 100124, China)

Abstract: Aming at the parallel robots kinematics analysis and calculation, the 3UPS/UP parallel mechanism was taken for example and the steps and method were introduced that using the dynamics simulation software ADAMS to get the kinematic positive and inverse kinematics solution.The virtual prototype of 3UPS/UP parallel robot was established in ADAMS after using the software Inventor to get 3D model assembling,then the virtual prototype were imposed joints and motion. The kinematic positive and inverse simulation were run to get direct kinematics solution and positive solutions rapidly and exactly. The result indicates that the method simplifys the process of calculating largely and provides meaningful examples for the parallel robots kinematic analysis and mechanism designing.
Key words: parallel robot; simulation; ADAMS; direct kinematics solution



友情链接

浙江机械信息网