| 基于刚柔混合建模的移动焊接机器人系统仿真 |
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| 引用本文： | 刘华伟,晋民杰,裴培.基于刚柔混合建模的移动焊接机器人系统仿真[J].太原科技大学学报,2011,32(6):442-446. |
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| 作者姓名： | 刘华伟 晋民杰 裴培 |
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| 作者单位： | 太原科技大学机械工程学院,太原,030024 |
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| 摘 要： | 以某移动焊接机器人为例,在刚柔混合建模理论与方法的基础上,利用Pro/E对移动焊接机器人进行整体造型;不仅将模型导入到仿真软件ADAMS环境,而且利用ADAMS/AutoFlex模块对机器人部分构件建立柔性体,同时通过ADAMS/View构建了机器人的刚柔多体动态仿真模型。仿真分析说明：该模型能够准确的反映焊接机器人的...
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| 关 键 词： | ADAMS 移动焊接机器人 刚柔多体系统 仿真分析 |
Simulation of Mobile Welding Robot System Based on Rigid-Flex Mixed Modeling |
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| LIU Hua-wei,JIN Min-jie,PEI Pei.Simulation of Mobile Welding Robot System Based on Rigid-Flex Mixed Modeling[J].Journal of Taiyuan University of Science and Technology,2011,32(6):442-446. |
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| Authors: | LIU Hua-wei JIN Min-jie PEI Pei |
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| Institution: | LIU Hua-wei,JIN Min-jie,PEI Pei(School of Mechanical Engineering,Taiyuan University of Science and Technology,Taiyuan 030024,China) |
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| Abstract: | Taking a mobile welding robot as an example,Pro/E was used to build the whole model of mobile welding robot based on Rigid-Flex Hybrid Modeling theory and method.The assembly model not only was imported into the simulation software ADAMS environment,but the flexible bodies of the robot were established by ADAMS/AutoFlex.Meanwhile,the rigid-flex multi-body dynamical simulation model of the robot＇s operating system was carried out through ADAMS/View.The simulation analysis indicates that this model can accurately reflect the simulating movement and force of the welding robot,it also provides a reliable basis and method for the dynamics research of end manipulator and the development of physical prototype of mobile welding robots. |
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| Keywords: | ADAMS mobile welding robots rigid-flex multi-body system simulation analysis |
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