| 3-RPS并联机器人刚柔耦合动力学分析 |
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| 引用本文： | 丁九华,莫晔.3-RPS并联机器人刚柔耦合动力学分析[J].沈阳大学学报,2013,25(4):307-312. |
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| 作者姓名： | 丁九华 莫晔 |
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| 作者单位： | 1. 沈阳大学机械工程学院,辽宁沈阳,110044
2. 沈阳大学信息工程学院,辽宁沈阳,110044 |
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| 摘 要： | 主要探讨了并联机器人刚柔耦合系统的动力学仿真分析方法,通过有限元软件与多体系统动力学软件相结合,建立了3-RPS并联机器人的多体系统动力学模型.借助刚体和柔体相结合的分析方法,分析了并联机器人的力学特性,获得了机器人在带载运动过程中机械手末端的位移变化和误差曲线,以及机器人各支链连杆的危险部位和应力变化曲线.采用刚柔耦合相结合的分析方法,更加直观、准确地模拟了机器人的实际工作状况,提高了对于在动载作用下零件动态响应分析的准确性,为并联机器人的结构设计与优化提供了重要的理论依据.
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| 关 键 词： | 并联机器人 刚柔耦合动力学 有限元分析 动态特性 |
Rigid-Flexible Coupling Dynamics Analysis of 3-RPS Parallel Robot |
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| Ding Jiuhua
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Mo ye.Rigid-Flexible Coupling Dynamics Analysis of 3-RPS Parallel Robot[J].Journal of Shenyang University,2013,25(4):307-312. |
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| Authors: | Ding Jiuhua Mo ye |
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| Institution: | (a. School of Mechanical Engineering; b. School of Information Engineering, Shenyang University, Shenyang 110044, China) |
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| Abstract: | The dynamics simulation analysis method for a rigid-flexible coupling system of parallel robot is investigated. The 3 - RPS parallel robot multi-body dynamics model is created by finite element analysis and multi-body dynamics software. Based on rigid-flexible coupling analysis method, the maximum stress position and stress curve of the lower connecting rod are studied and the displacement error of end-effector is got, when parallel robot is moving under loads. The analysis method is more intuitional and accurate, and can increase the accuracy of dynamic response analysis of parts under the dynamic loads. The simulation results are very important theoretical basis for structure design and development of the spot-welding robot. |
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| Keywords: | parallel robot rigid-flexible coupling dynamics finite element analysis dynamics characteristics |
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