摘要
针对机电系统虚拟样机设计的需要,在单学科仿真建模的基础上,进行基于仿真软件接口的多学科协同建模与仿真分析。以工业机器人虚拟样机的关节运动控制为例,利用ADAMS/Controls模块,将动力学模型通过接口变量与控制模型进行连接,建立连杆-关节执行机构多体动力学与运动控制协同的虚拟样机多学科集成模型,并进行协同仿真运行,表明基于仿真软件接口的协同建模与仿真方法能够有效支持机电系统虚拟样机的开发技术研究。
To focus on the demand of mechatronic system virtual prototype design, on the basis of mono-disciplined modeling, the multi-disciplined modeling ＆ collaborative simulation technology based on software interfaces for mechatronic system was probed into. In the motion control practice of industrial robot virtual prototype joints, connecting the dynamic model with the control model through interface variables by ADAMS/Controls module, the multi-discipline integrated model of rod-joint executor machine multi-body dynamics and motion control collaborating was established. And the example indicates that this collaborative modeling and simulation method by using simulation software interfaces is one of the effectively implementary technologies for mechatronic system virtual prototype engineering.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2006年第13期1404-1407,共4页
China Mechanical Engineering
基金
国家自然科学基金资助项目(50275100)
关键词
机电系统
工业机器人
虚拟样机
多学科建模
协同仿真
mechatronic system
industrial robot
virtual prototype
multidisciplined modeling
collaborative simulation
