3-RPS并联机器人运动可靠性仿真研究

利用ADAMS 12.0建立多体系统仿真模型:首先在ADAMS/View模块下建立参数化的虚拟样机模型。利用ADAMS软件提供的Point Motion、Measure和Spline等功能,获得机器人位姿正反解。考虑杆长误差和球副位置误差服从正态分布的情况下,利用随机抽样获得不同模型的实现,通过仿真得到机器人末端执行器的多组运动轨迹,并用文本文件记录相应的数据结果。最后由统计计算得出任意时刻的机器人运动可靠度。该方法不涉及复杂的数学推导,计算精度高,求解周期短,为设计人员提供了一定的参考,适合于工程应用。

Simulation Research on Kinematics Reliability of 3-RPS Parallel Robot

We establish the simulation model of a multi-body system using ADAMS 12.0 software.First,we set up the model for a parametric virtual prototype in the ADAMS/View module.Then we obtain the forward and inverse displacements of the 3-RPS parallel robot with Point Motion,Measure and Spline under ADAMS.With the consideration that the length error of its legs and the location error of its ball joints should abide by normal distribution,we realize its different models by random sampling,obtain numerous groups of motion trajectories of the robot′s tip executor through simulation and record the execution results in a notebook and do statistical calculation of its reliability at any time.What we present here is a new approach,which has high computational accuracy,small computational volume and big reference value for designers.