基于Sim Pro的焊装夹具机构的仿真

Simulation of Welding Assembly Fixture Based on Sim Pro

首先,文章以概述性的语言着重介绍了SimPro仿真平台以及Python语言。接着,将被研究对象抽象出来,以平面连杆机构为仿真模型,建立了其运动学及逆运动学方程。该方程是仿真算法的基础。最后,在SimPro平台上建立三维模型,以Python语言为工具编写了脚本文件。通过在SimPro平台的仿真,可以看出Python的功能足以满足要求,效果良好。

In the beginning, the simulation platform of KUKA Sim Pro and Python are introduced generally, which are main tools to do the research for this thesis. Secondly, the object, welding assembly fixture is abstracted as a plain -four -rod machine, which is the model for simulation. Then the kinematics and reverse kinematics formulation are revealed, which are the foundation for simulation. At last, 3 - D models are built on the platform of KUKA Sim Pro, and Python script is written. The simulation on the platform of KUKA Sim Pro shows that Python is good enough to satisfy the simulation function.