基于虚拟样机的电动六自由度并联机器人结构参数设计

针对并联机器人在设计过程中的约束变量多、干涉情况复杂和设计周期长等问题,进行电动六自由度并联机器人结构参数设计与仿真的研究.以Stewart并联机器人为例,对并联机器人工作空间的两种求解方法进行了分析.首先利用几何法求解出其工作空间,然后提出一种基于虚拟样机技术求解其工作空间与承载能力的方法.这种方法利用Pro/E软件进行三维设计,将三维造型导入Adams软件中进行动态仿真.仿真结果表明,该方法在保证仿真结果可靠性的前提下,可避免烦琐的计算,缩短设计周期.

Design of structural parameters for motor-driven 6-DOF parallel manipulators based on virtual prototype

The design of structural parameters and the simulation of motor-driven 6-DOF parallel manipulators were researched to solve the problems such as more restriction conditions,complicated interference and longer design periods during parallel manipulator design.Taking the Stewart parallel manipulator as an example,two methods of solving the workspace of parallel manipulators were discussed.Firstly,the workspace was solved by the geometric method,and then a method to solve the workspace and the load-bearing capacity by the virtual prototype technique was proposed.It is such a method that the three-dimensional design is developed through Pro/E software and the three-dimensional model is diverted to Adams software for dynamic simulation.Simulation results show that this method avoids tedious calculations and reduces the design period on condition that the simulation results are reliable.