基于ADAMS的并联机器人振动特性仿真及结构优化

提出了一种利用虚拟样机仿真技术进行结构优化的方法。分析了并联机器人的振动原理以及激振测试原理,并给出了利用正弦扫描进行激振测试的原理和流程。为了进行激振测试仿真,在ADAMS软件中建立并联机器人的刚柔耦合振动系统,并使该系统受到一定激振力产生位移响应,获得该并联机器人激振特性曲线,从而找出其薄弱环节并对其进行结构优化,对薄弱构件优化后再次对系统进行仿真测试,结果表明构件结构优化后的结果较为理想。

Simulation of Vibration Characteristic and Optimization for Parallel Robot Based on ADAMS

A structure optimization method using virtual prototype simulation was put forward. The principle of vibration and stimulated vibration test on dynamic characteristic of parallel robot were analyzed, and the skeleton of swept sine and design process of stimulated vibration test were given, then flexible model and stimulated vibration model of parallel robot was built in ADAMS in order to do the simulation of stimulated vibration test. The system was applied on stimulating force and produced displacement response. The characteristic of stimulated vibration test was obtained and the weak links could be found, based on that, the structure optimization method was proposed. After the optimization, the simulation result is good.