并联机器人机构的虚拟样机运动仿真实验研究

以先进制造装备中的机器人工作台为应用背景,研究一种具有四个自由度的新型并联机器人机构。对这种机构的结构作了简要介绍,对其运动特性和自由度作了理论分析和计算。运用虚拟样机技术,在ADAMS软件平台上构建该并联机器人机构模型。按照机构的结构几何尺寸计算各转动副的位置坐标,创建连杆等零件和各转动副,设定驱动副和初速度以及进行运动仿真实验。对仿真结果进行分析。实验和分析结果证明理论分析方法是正确的。此外还说明,完全可以运用ADAMS软件完成并联机构的运动特性分析虚拟样机实验,为并联机构的结构综合提供了一种新的实验方法。

Simulation Experiment of Virtual Prototype Kinematics for Parallel Manipulators

According to the application of robot positioning table for advanced manufacture equipments,the paper studies a new type four-DOF parallel manipulator.This paper briefs its construction and does theory analysis of its kinematics characters and degrees of freedom,and attempts to construct kinematics simulation model for the parallel mechanism based on ADAMS by applying the virtual prototype technology.The location coordinates for each rotation joint are counted according to the geometrical constructions.The links and joints are created.After setting rotational joint motions and doing experiments of kinematics simulation the results are analyzed.The experiments prove the correctness of the theoretical analysis.Moreover it shows that ADAMS software can complete virtual prototype experiments of the kinematics character for parallel manipulator and the method offers a new way for constructional synthesis of parallel mechanisms.