摘要
基于LMS Virtual.Lab适于机械系统动力学分析但不能直接用于柔性分析,而ANSY S适于有限元分析的情况,本文将2者结合起来,建立了刚柔耦合机器人动力学仿真系统。本系统是通过中性文件结合LMS Virtual.Lab和ANSYS,实现刚柔耦合机器人系统的仿真分析。此系统按功能分成11个模块,对其进行了二次开发,用以进行刚柔耦合机器人系统的仿真分析,省去了复杂的建模及编程工作。本文通过一个平面三臂机器人的实例说明了此系统的有效性。
LMS Virtual. Lab is suited for mechanical system dynamics analysing,but not for flexible analysing. ANSYS is suited for finite element analysing. In this paper, we combined LMS Virtual, Lab ＆ ANSYS and established the simulation system for rigid-flexible coupled robots. We realized the simulation s：ystem for rigidflexible coupled robots by a combination of LMS Virtual. Lab ＆ ANSYS using neutral file. The system is divided into eleven parts and programs have been further developed on the platform of LMS Virual. Lab ANSYS, so the system can be used more expediently, The system can also be used in GUI without further programming. An example of robot is given to demonstrate the effectiveness.
出处
《轻工机械》
CAS
2007年第1期46-49,共4页
Light Industry Machinery
基金
国家自然科学基金资助项目(50575002)
北京市自然科学基金资助项目(3062004)
北京市科技新星资助项目B类(2003B04)
