| 基于UG的串并联机器人ADAMS运动学仿真 |
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| 引用本文： | 罗建国,何茂艳,陆震,黄真. 基于UG的串并联机器人ADAMS运动学仿真[J]. 机械设计, 2007, 24(4): 5-8 |
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| 作者姓名： | 罗建国 何茂艳 陆震 黄真 |
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| 作者单位： | 华北科技学院,北京,101601;北京航空航天大学,北京,100083;燕山大学,河北,秦皇岛,066004 |
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| 摘 要： | 基于多个实体建模软件的内部特有转换关系,通过Pro/E和UG建立串并联机器人的几何实体模型,UG中定义机器人的运动副,ADAMS中编制的特定程序,并动态模拟机构上下层动平台在特定结构形式下的反向运动学特性,以三维动态画面和平面曲线图综合反应机构在给定条件下的运动学仿真结果.
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| 关 键 词： | 建模 转换 定义 运动学 仿真 |
| 文章编号： | 1001-2354（2007）04-0005-04 |
| 修稿时间： | 2006-07-24 |
ADAMS kinematics simulation of series-parallel robot based on UG |
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| LUO Jian-guo,HE Mao-yan,LU Zhen,HUANG Zhen. ADAMS kinematics simulation of series-parallel robot based on UG[J]. Journal of Machine Design, 2007, 24(4): 5-8 |
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| Authors: | LUO Jian-guo HE Mao-yan LU Zhen HUANG Zhen |
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| Affiliation: | 1. North China Institute of Science and Technology, Yan Suburb of East Beijing 101601, China 2. Beijing University of Aeronautics and Astronautics, Beijing 100083, China; 3. Yangshan University, Qinhuangdao 066004, China |
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| Abstract: | On the basis of the peculiar transformation relationship inside the multi-entity modeling software,and by means of Pro/E and UG to establish the geometrical entity model of series-parallel robot.The kinematic pair of robot was defined inside the UG and the specially designated program was worked out in ADAMS.The reverse kinematic characteristics of upper and lower platforms of mechanism under specialized structural forms were dynamically simulated.The kinematics simulation result of mechanism under given conditions was reflected synthetically by the use of 3D dynamic film frame and planar curve diagram. |
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| Keywords: | modeling transformation definition kinematics simulation |
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