并联六坐标测量机的实时运动仿真及分析

Real-time Kinematic Simulation of Six-Freedom-Degree Parallel Mechanism Coordinate Measuring Machine

以一种6-SPS型六自由度并联机构坐标测量机为研究对象,研究了基于ADAMS的并联六坐标测量机的实时运动仿真,并进行运动学分析。首先利用UG环境构造机构三维实体模型,然后将数字模型导入到ADAMS平台,在该环境下对其进行实时三维运动过程仿真,从而使并联坐标测量机虚拟样机建模及仿真更为方便、有效,并具有了较高的实时性,为虚拟样机的后续深入开发奠定了基础。

The design for real prototype of the parallel-link CMM is very difficult because there is a no-linear relationship between the pose on probe and the actuating variables applied through six parallel links.In this paper,the virtual prototype of a parallel-link CMM based on 6-SPS kinematic mechanism is developed, and the 3D kinematic movement of it is simulated in virtual environment.This research lays the foundation for manufacturing the real prototype of the parallel-link CMM.