ADAMS环境下并联坐标测量机运动分析与仿真

并联机构的运动学分析即是求解并联机构的输入与输出构件的位移、速度、加速度之间的关系。文章以基于Stewart平台的六自由度并联机构坐标测量机为研究对象,在ADAMS软件环境下建立了六自由度并联坐标测量机的虚拟样机模型,然后基于虚拟样机对所研究的并联坐标测量机进行了运动学仿真。通过软件仿真,可以对并联坐标测量机各种运动性能产生直观的了解,从而为并联坐标测量机的设计与开发提供软件验证方法,为建立物理样机打下坚实的基础。同时利用虚拟样机技术还可以大大简化并联坐标测量机的运动学逆解和正解,为进一步对并联坐标测量机的系统优化创造了有利条件。

Kinematic Analysis and Simulation for a Parallel-link Coordinate Measuring Machine Based on ADAMS Environment

The kinematics simulation of parallel-link mechanism sloves the relation between the displacement,speed,acceleration of input components and these parameters of outpue components.This paper researches for the 6-DOF parallel-link CMM(Coordinates Measuring Machine) based on the Stewart platform and the Virtual Prototype model of the 6-SPS parallel-link coordinate measuring machine is established by use of mechanic dynamic analysis software ADAMS.Not only the kinematics and dynamics of the 6-SPS parallel-link coordinate measuring machine are simulated,but also the contact force is analyzed.Firstly,it realizes the analysis of performances of parallel-link coordinate measuring machine,and offers an effective method for designing parallel-link coordinate measuring machine with simulation software.It is the basis of building physics prototype.Secondly,the inverse and forward kinematics of parallel-link CMM is simplified by the Virtual Prototype technology.It creates an advantage for system optimization to parallel-link CMM.