| 3-TPT并联机器人动力学仿真研究 |
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| 引用本文： | 杨斌久,蔡光起.3-TPT并联机器人动力学仿真研究[J].哈尔滨工业大学学报,2009(11):103-105. |
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| 作者姓名： | 杨斌久 蔡光起 |
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| 作者单位： | 哈尔滨工业大学(威海)船舶工程学院;东北大学机械工程与自动化学院 |
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| 基金项目： | 国家自然科学基金资助项目(59875012) |
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| 摘 要： | 为了分析并联机器人动力学特性,采用ADAMS虚拟样机技术对3-TPT并联机器人的正逆向动力学问题进行了仿真研究.利用三维实体建模工具Pro/Engineer软件建立了并联机器人的三维实体模型,借助Pro/E软件和ADAMS软件的接口模块Mechanism/Pro,将三维实体模型导入到ADAMS并创建虚拟样机模型.分别对机器人的驱动杆、约束链的运动及受力等相关问题进行了仿真研究,获得了机器人动力学特性规律曲线.该虚拟样机技术对复杂机械动力学问题的研究具有借鉴作用.
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| 关 键 词： | 并联机器人 虚拟样机 动力学 仿真 |
Dynamics simulation of 3-TPT parallel robot |
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| YANG Bin-jiu,CAI Guang-qi.Dynamics simulation of 3-TPT parallel robot[J].Journal of Harbin Institute of Technology,2009(11):103-105. |
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| Authors: | YANG Bin-jiu CAI Guang-qi |
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| Affiliation: | 1. School of ship engineering,Harbin Institute of Technology,Weihai,264209,China 2. School of Mechanical Engineering & Automation,Northeastern University,Shenyang 110004,China) |
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| Abstract: | To analyse dynamics characteristics of parallel robot,virtual prototype technology was employed to conduct the dynamics simulation of 3-TPT parallel robot. Using the soft of Pro/Engineer,a 3D substance model of 3-TPT parallel robot was established. Then the model was imported to ADAMS by dint of Mechanism/ Pro,the interface module for Pro/E and ADAMS,and a virtual prototype model of 3-TPT parallel robot was established. According to the structural characteristics of the robot,the driving rod and the restricting kinematics link were simulated. And the dynamics characteristics discipline of the 3-TPTparallel robot was obtained. Virtual prototype technology is a better way to study the dynamics of parallel robot and can provide the reference for the complex dynamics of mechanical problems. |
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| Keywords: | parallel robot virtual prototype dynamics simulation |
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