并联机器人多柔体系统协同建模与动力学仿真

基于协同的思想,提出了一种对机构的多柔体动力学进行建模和仿真的方法.以多体系统动力学为基础,建立了柔性机构的空间动力学方程.利用多体动力学仿真软件ADAMS和有限元分析软件ANSYS建立了3-TPT型并联机器人的多柔体动力学仿真模型,并对所建立的模型进行了动力学仿真研究.为了更加准确地说明分析结果,分别将刚性体和柔性体仿真结果进行对比,结果表明:由于杆件的柔性特点,其受力表现出了高度的非线性,这与实际相符.多柔体系统的仿真结果能更真实、准确地反映出并联机器人的实际运动特性,能够更准确地预测机构性能.这种方法为并联机器人的设计和优化提供了一种有效的分析方法.

Modeling of Parallel Robots in Coordination with Flexible Multibody System and Dynamic Simulation

An approach is proposed coordinately to model and simulate the dynamics of flexible multibody of a mechanism,and a spatial dynamic equation is given to the flexible mechanism on the basis of the dynamics of multibody system.Then,a simulation model is developed for the dynamics of flexible multibody of 3-TPT parallel robots by use of the software ADAMS for multibody dynamics and ANSYS for FEA,and the model is studied dynamically by simulation. To discuss the results more exactly,the simulation results of rigid and flexible bodies are compared with each other.Simulation results showed that the forces acting on any flexible members are highly nonlinear,and the judgment conforms to the actuality.Such simulation results will reflect dynamically and actually how the parallel robots operate more really and exactly,as well as the prediction of the performance of a mechanism.The approach proposed will provide a method to analyze the design and optimization of parallel robots.