基于ADAMS的并联机器人运动学和动力学仿真

应用机械系统动力学仿真分析软件ADAMS,建立了Stewart型并联机构的虚拟样机模型,包括对并联机器人各部件的简化方法、在ADAMS中的模型描述及仿真过程控制,并利用该虚拟样机模型对并联机器人进行了运动学和动力学分析。为并联机器人系统的设计、制造和模拟运动作业提供了理论依据和主要参数。实现了在计算机上通过使用CAE仿真软件朱对并联机器人的运动和动力性能进行分析,为并联机器人的设计提供了一套有效的分析方法。     

基于dyna971的数控镗铣机床动态模拟仿真

落地式数控镗铣机床结构复杂,为保证机床具有良好的动态性能,在开发设计该类机床时要进行整机的动态模拟仿真分析。针对这一要求,提出一种实际设计中实用化程度较高的机床动态模拟仿真思路,首先对数控落地镗铣机床样机进行模态试验,获取床身〖CD*2〗滑座、滑座〖CD*2〗立柱、立柱〖CD*2〗主轴箱等结合面的模态参数,在对模态参数进行有限元方法优化识别后,利用COMBIN14单元模拟优化后的结合部参数建立机床整机有限元模型。在dyna971软件平台对整机有限元模型进行动态模拟仿真,从模拟仿真分析结果可以看出机床在受到外界作用力时,其输出的应力和应变变化波形平稳,说明经过上述分析而设计出的机床具有良好的动态性能。目前,该研究成果已应用于此类型机床的批量生产。     

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。     

折叠机构力学性能研究

为提高大型机构设计的可靠性、有效性,使用UG NX3和ADAMS,研究了一种天线车雷达折叠机构的虚拟样机建模和运动仿真.通过对天线车雷达折叠机构虚拟样机模型的转化,解决了ADAMS软件三维建模功能较弱的问题.结合天线车雷达折叠机构实际工作条件,对折叠机构进行了仿真,获得了其静力学、动力学特性参数.对虚拟样机进行初步试制的结果表明本折叠机构在液压缸优化压力推动下可以实现平稳,可靠运动,为进一步的结构细化提供了可靠的参考依据.     

基于虚拟样机技术的电梯动态设计与优化

为优化电梯动力学参数以提高电梯的乘坐舒适性,论文运用SolidWorks 和ADAMS 联合建立电梯的虚拟样机模型,给定约束和驱动,对虚拟样机进行动态仿真和 分析。通过对电梯振动信号频域分析和多体动力学系统固有频率分析后,对电梯动力学参数 进行优化。仿真结果表明,优化后电梯各项动态特性指标较优化前均有很大的改善,为改进 电梯性能提供了设计依据。     

利用SOLIDWORKS实现焊接机器人设计和仿真

正运用虚拟样机技术在SOLIDWORKS软件平台上设计出焊接机器人模型,按照机构的结构几何尺寸,创建零件并进行虚拟样机装配。直接在运动仿真模块SOLIDWORKS Motion中通过设定运动参数进行运动仿真,并分析其运动空间、运动状态和作用力矩等。结果表明,利用SOLIDWORKS系列软件可以对焊接机器人三维实体建模和运动特性分析,验证机构设计的合理性,为焊接机器人的实际样机的试制奠定了基础。     

超高速电梯系统动态仿真分析

电梯的振动是影响舒适性的最主要因素,针对4.0 m/s 超高速电梯系统,以轿厢- 轿架-导轨-钢丝绳耦合系统为研究对象,建立垂直系统振动动力学模型,结合机械系统动力学自 动分析虚拟样机技术,通过建立钢丝绳动力学模型、添加导轨与导靴之间的接触力、水平振动 激励及垂直振动激励,建立电梯整机虚拟样机模型,设定约束与驱动,进行动态特性仿真分析。 仿真结果表明,电梯垂直振动加速度、水平振动加速度等性能指标满足要求,为超高速电梯的 开发提供了设计依据。     

3-HSR型并联机床虚拟样机参数化实体建模设计

根据3-HSR型并联机床概念模型，对其总体布局、结构部件的参数化实体建模设计和装配体过程进行了研究．设计完成的虚拟样机模型结构合理、外形逼真，可以直接用于工程分析和设计优化．最后，指出了在并联机床建模设计环境的选择和具有可运动部件的装配过程中需要注意的问题．     

基于虚拟样机仿真的多管火箭武器专家系统

针对传统武器专家系统主要以武器专家经验为基础,存在着缺少动态预测功能及动力学机理性解释的不足,提出一种以多体系统动力学虚拟样机仿真模型为基础的多管火箭武器专家系统集成框架.通过建立多管火箭武器虚拟样机仿真模型,论述了该多管火箭专家系统的体系结构、系统框架、基于虚拟样机仿真的专家系统决策过程及参数推理与反演.在此基础上,通过关键技术实现与关键模块的系统开发,通过实例演算,验证了该系统模式的优越性,为解决武器系统分析提供了一个有效而又直观的新途径.     

基于虚拟样机的无返回力矩钟表机构仿真分析

研究无返回力矩钟表机构计时特性问题,传统的仿真分析大多只考虑擒纵机构的参数对G摆卡子振动特性的影响,而忽略了传动机构对其的影响.为了准确预测钟表机构延期解除保险时间,提出将虚拟样机技术应用于钟表机构计时特性研究中.在UG中建立好三维装配模型,并利用Adams软件平台建立完整的无返回力矩钟表机构虚拟样机,分别对传动机构的理想状态、计及传动轴系变形以及考虑传动轮系接触碰撞三种模型进行了多体动力学仿真.仿真结果更接近实验值,证明虚拟样机模型的正确性,表明传动机构的轮系接触碰撞也同样影响G摆卡子的振动特性,所得结论对擒纵机构零件的设计与强度校核具有重要的参考价值.     

Using CAD geometric variation approach machining complex workpiece by a 3-SPR parallel machine tool

A novel CAD geometric variation approach is proposed for machining the complex workpiece, caving letter on a 3D free-form surface, and milling cam by a 3-SPR parallel machine tool. First, a simulation mechanism of the 3-SPR parallel manipulator is created, and a workspace of the moving platform is constructed by the 3-SPR simulation mechanism. Second, the tool path guiding plane with complex workpiece and the simulation mechanism of the 3-SPR parallel machine tool are combined to form the whole simulation mechanism. Third, the extension of the active legs and the position of the moving platform are solved automatically and visualized dynamically by using simulation mechanism. Finally, the formulae for solving displacement kinematics of the 3-SPR parallel machine tool are derived. The results of the simulation mechanism are verified by kinematic analytic results. The CAD geometric variation approach is straightforward without compiling any program.     

基于面向对象的虚拟数控系统的研究

提出了虚拟数控机床的基本系统结构,引入面向对象程序设计的基本概念于虚拟数控机床的设计.根据数控机床各零部件在加工过程中的特点,把它们分成静态类、运动类和动态类3类.在此基础上,利用3维实体CAD（computer aided design）软件系统进行虚拟数控机床加工过程中非变形物体（静态类与运动类）的外形设计并转换成STL（stereolithography）文件,对动态变形物体采用特征造型方法,与设计的成员函数即该零部件的运动函数有机地集成起来,构成类,最终实现数控机床各机构的动态仿真.引入了四元数的基本概念,并将其应用于系统设计与实现.上述方法为虚拟数控系统的研究提供了基本框架.实验结果证明,上述方法是可行的,具有很好的实用价值和参考价值.     

6-SPS并联机床加工过程仿真

针对并联机床研究不断深入的现状，介绍了6－SPS并联机构以及加工过程仿真研究的意义，采用VC＋＋6．0OpenGL开发了6－SPS并联机床加工过程仿真系统，对各功能模块进行了简单介绍，并以单叶双曲面为例，进行了轨迹规划以及加工过程仿真，验证了仿真系统的正确性及实用性。     

Tool requirements in manufacturing systems under dynamic tool sharing

This paper addresses a tooling problem in automated manufacturing systems under dynamic tool assignment policy. In this type of systems, while parts stay on a machine all through its operations, the tools required (but not available on the machine) are delivered in time for requirements. The system performance is restricted to a great extent by tooling constraints. This paper presents an analytical method to determine tool requirement levels under dynamic production environment. The appropriate tool duplication levels are determined by trading off tool duplication levels and tool waiting time. Simulation studies are used to verify the performance of the proposed analytical model.     

Off-line compensation of the tool path deviations on robotic machining: Application to incremental sheet forming

In this paper, a coupling methodology is involved and improved to correct the tool path deviations induced by the compliance of industrial robots during an incremental sheet forming task. For that purpose, a robust and systematic method is first proposed to derive the elastic model of their structure and an efficient FE simulation of the process is then used to predict accurately the forming forces. Their values are then defined as the inputs of the proposed elastic model to calculate the robot TCP pose errors induced by the elastic deformations. This avoids thus a first step of measurement of the forces required to form a test part with a stiff machine. An intensive experimental investigation is performed by forming a classical frustum cone and a non-symmetrical twisted pyramid. It validates the robustness of both the FE analysis and the proposed elastic modeling allowing the final geometry of the formed parts to converge towards their nominal specifications in a context of prototyping applications.     

Possibilities of graphic simulation of NC programs

An increasing variety of products and a decrease in average batch size requires today's manufacturers to implement flexible manufacturing systems for economic reasons. One prerequisite is the efficient and timely production of faultless machining programs. In spite of the application of powerful programming systems, programming errors cannot be avoided. The use of modern microelectronics and high-resolution color displays enables extensive testing of NC programs using dynamic simulation. After the input of the geometry data of the unmachined parts and chucking equipment, the dynamic simulation can be started. The tool and holder are moved in sets on the screen, and the programmed contour of the finished part is produced from the unmachined part. Thus it is possible to move the testing phase of newly created NC programs from the machine tool to the graphic screen.     

Process optimization of the serial-parallel hybrid polishing machine tool based on artificial neural network and genetic algorithm

A kind of serial-parallel hybrid polishing machine tool based on the elastic polishing theory is developed and applied to finish mould surface with using bound abrasives. It mainly consists of parallel mechanism of three dimensional moving platform, serial rotational mechanism of two degrees of freedom and the elastic polishing tool system. The active compliant control and passive conformity of polishing tool are provided by a pneumatic servo system and a spring, respectively. Considering the contradiction between the machining quality and efficiency, the optimization model of process parameters is found according to different machining requirements, namely single objective optimization and multi-objective optimization, which provide a choice of parameters as a basis for the operators in practice. Many polishing experiments are conducted to collect the data samples. The genetic algorithm integrated with artificial neural network is used for researching for the optimal process parameters in term of the various optimization objectives. This research also lays the foundation for further establishing polishing expert system.     

二轴数控工作平台的建模与仿真研究

利用系统建模与仿真的方法对数控机床的X-Y工作平台进行研究，建立了数控机床伺服系统动态性能的仿真模型，分析了伺服系统动态特性，应用ADAMS和Matlab/Simulink软件实现对整个系统的动态性能仿真，由伺服系统的Bode图和阶跃响应可以求出伺服系统的各项性能指标，具有很好的动态响应特性，可迅速地为数控机床伺服系统的调试提供可靠依据。     

Dynamic model of an overconstrained PKM with compliances: The Tripteor X7

This paper deals with dynamic modeling of a parallel kinematic machine tool: the Tripteor X7. This machine has a hybrid kinematic, so it presents a serial wrist attached to an overconstrained parallel unit. Two dynamic models are proposed in this paper. The first one is built with only rigid bodies. It aims at identifying the inertial parameters and those of the movement transformation devices. In the second model, joints and legs compliances are introduced. This model is then used to study the impact of elements deformations on the generated surfaces. All this simulations are compared to experimental measurements realized directly on the Tripteor.