| 基于ADAMS的手抛式机器人碰撞动力学分析 |
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| 引用本文： | 魏衍侠.基于ADAMS的手抛式机器人碰撞动力学分析[J].机械工程与自动化,2011(2):82-85. |
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| 作者姓名： | 魏衍侠 |
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| 作者单位： | 聊城大学汽车与交通工程学院,山东,聊城,252059 |
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| 摘 要： | 手抛式机器人抛出后与地面冲击碰撞过程属于强非线性动力学问题,传统解析方法难以解决。利用ADAMS软件对机器人的跌落碰撞过程进行仿真计算。采用Pro/E软件建立机器人平台机架的三维实体模型,从中获得零件准确的质量、质心位置和惯性矩等计算参数,通过mechpro2005将简化了的机器人三维实体模型导入ADAMS中。利用ADAMS中的Contact命令建立起机器人与地面之间的碰撞关系,分析了机器人所受的冲击力随各参数的变化情况及各姿态跌落过程的受力情况,对机器人本体的设计和研究工作具有一定的参考价值。
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| 关 键 词： | 冲击函数法 跌落碰撞 手抛式机器人 仿真分析 |
Kinetic Analysis of Collision of Micro-robot Based on ADAMS |
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| WEI Yan-xia.Kinetic Analysis of Collision of Micro-robot Based on ADAMS[J].Mechanical Engineering & Automation,2011(2):82-85. |
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| Authors: | WEI Yan-xia |
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| Affiliation: | WEI Yan-xia(School of Automobile &Transportation Engineering,Liaocheng University,Liaocheng 252059,China) |
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| Abstract: | The drop impact of micro-robot is a high nonlinear structure problem.It can not be solved by the traditional methods.In the paper,the drop impact of micro-robot is simulated by ADAMS software.The robot 3D solid model is established with Pro/E software to obtain the accurate mass,position of mass center and inertia moment,and then transferred to ADAMS by mechpro 2005.With the function of contact,the relation between robot and ground is established.And the change of drop impact imposed on the hand-throw robot... |
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| Keywords: | impact function drop impact hand-throw robot simulation analysis |
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