| 基于ADAMS的并联机器人承载能力仿真 |
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| 引用本文： | 刘彦武,孙立宁,曲东升,李长峰. 基于ADAMS的并联机器人承载能力仿真[J]. 制造业自动化, 2007, 29(7): 79-81,98 |
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| 作者姓名： | 刘彦武 孙立宁 曲东升 李长峰 |
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| 作者单位： | 哈尔滨工业大学机器人研究所,哈尔滨,150080 |
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| 摘 要： | 在对一种6自由度并联机器人受力特点分析的基础上，应用SOLIDWORKS建立了并联机器人的虚拟样机简化模型，通过数据转换技术将模型导入ADAMS。应用ADAMS软件对并联机器人进行了承载能力仿真，得到了各向负载与驱动力的关系曲线，确定了并联机器人的各向承载能力。仿真结果证明并联机器人各向承载能力取决于某个驱动元件的受力，该并联机器人承载能力在工作空间内比较一致。
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| 关 键 词： | 并联机器人 承载能力 SOLIDWORKS ADAMS仿真 |
| 文章编号： | 1009-0134（2007）07-0079-03 |
| 修稿时间： | 2006-08-24 |
Load-bearing capacity simulation of parallel robot based on ADAMS |
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| LIU Yan-wu,SUN Li-ning,QU Dong-sheng,LI Chang-feng. Load-bearing capacity simulation of parallel robot based on ADAMS[J]. Manufacturing Automation, 2007, 29(7): 79-81,98 |
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| Authors: | LIU Yan-wu SUN Li-ning QU Dong-sheng LI Chang-feng |
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| Affiliation: | Robotics Institute, Harbin Institute of Technology, Harbin 150080, China |
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| Abstract: | Based on force analysis of a type of 6 DOF parallel robot, a virtual prototype model of the robot is established by SOLIDWORKS. The model is exported into ADAMS by means of data exchange. Load-bearing capacity of the parallel robot has been simulated by ADAMS. Relation curves between capacity and driving force were gained in all directions, and load-bearing capacities were confirmed. The result of simulation proved that load-bearing capacity of the parallel robot in each direction is determined by one of the drivers, and load-bearing capacity of this robot has consistency in working space. |
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| Keywords: | Parallel robot Load-bearing capacity SOLIDWORKS ADAMS Simulation |
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