摘要
以3-RPC型并联机器人为研究对象,利用Pro/E软件建立了虚拟样机模型,通过Pro/E和ADAMS的接口程序MECHANISM/Pro将实体模型导入到ADAMS环境下,实现了3-RPC型并联机器人机构的运动学与动力学性能仿真分析。这种方法不需大量的数学计算和计算机语言编程工作,非常快捷、方便、准确,为样机的调试与控制提供了理论依据。
3-RPC parallel robot is studied. The virtual prototype is established by Pro/E software. The digital models are imported into ADAMS by MECHANISM/Pro which is called interface procedures between Pro/E and ADAMS. The kinematics and dynamics simulation and analysis of the virtual prototype model is accomplished.This method doesn＇t need too much calculating and program,it is fast,convenient and exact, it also provides theoretical foundation for prototype＇s debugging and control.
出处
《机械设计与制造》
北大核心
2009年第10期172-174,共3页
Machinery Design & Manufacture
关键词
并联机器人
虚拟样机
运动学
动力学
Parallel robot
Virtual prototype
Kinematics
Dynamics
