| 基于UG和ADAMS的并联机器人的运动学与动力学仿真 |
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| 引用本文： | 李连升,郭宗和,孙术华,段建国,孙磊. 基于UG和ADAMS的并联机器人的运动学与动力学仿真[J]. 山东理工大学学报：自然科学版, 2007, 21(4): 10-13 |
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| 作者姓名： | 李连升 郭宗和 孙术华 段建国 孙磊 |
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| 作者单位： | 山东理工大学,机械工程学院,山东,淄博,255049;淄博职业学院,机械与汽车工程系,山东,淄博,255013 |
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| 基金项目： | 山东省自然科学基金;山东省教育厅资助项目;山东理工大学校科研和教改项目 |
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| 摘 要： | 以3-PRC并联机器人机构为研究对象,在UG环境下建立了并联机构的虚拟样机模型,并将实体模型导入到ADAMS环境下,实现了3-PRC并联机器人机构的运动学及动力学性能仿真分析.该方法避免了复杂运动学与动力学方程的建立与求解,简化了并联机器人的设计开发工作,也为样机的调试与控制提供了理论依据.
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| 关 键 词： | 并联机器人 虚拟样机 运动学 动力学 仿真 |
| 文章编号： | 1672-6197（2007）04-0010-04 |
| 修稿时间： | 2006-12-11 |
Kinematics and dynamics simulation of the parallel robot based on UG/ADAMS |
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| LI Lian-sheng,GUO Zong-he,SUN Shu-hua,DUAN Jian-guo,SUN Lei. Kinematics and dynamics simulation of the parallel robot based on UG/ADAMS[J]. Journal of Shandong University of Technology:Science and Technology, 2007, 21(4): 10-13 |
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| Authors: | LI Lian-sheng GUO Zong-he SUN Shu-hua DUAN Jian-guo SUN Lei |
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| Affiliation: | 1. School of Mechanical Engineering, Shandong University of Technology, Zibo 255049, China ; 2. School of Mechanical and Automotive Engineering, Zibo Vocational Institute, Zibo 255013, China |
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| Abstract: | 3-PRC parallel robot is studied in this paper.The virtual prototype of it is established under the UG software and the digital models are imported into ADAMS.The kinematics and dynamics simulation and analysis of the virtual prototype model is accomplished.This method avoids the modeling and computing of complex kinematics and dynamics formula,simplifies the design and development of mechanical products,therefore,more energy can be used on improving the characteristics and optimizing the structure.Meanwhile,it also provides theoretical foundation for prototype's debugging and control. |
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| Keywords: | parallel robot virtual prototype kinematics dynamics simulation |
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