摘要
基于ADAMS软件在多刚(柔)体系统分析中的应用,将ADAMS软件应用于平面3-RRR并联机器人的参数化设计与仿真.根据工况的实际要求,通过创建设计点,建立机器人参数化模型,以最小驱动转角为优化目标,利用ADAMS软件对并联机器人的杆长进行参数化设计.通过仿真,得出各杆件参数的变化对主动杆转角的影响灵敏度,通过对影响灵敏度较大的参数进行筛选、修改,以较快的速度,以较少的工作量达到设计目标要求.
Based on the application of ADAMS in the analysis of multi-rigid（deformable）-body system,ADAMS is applied to parameterized design and simulation of a planar parallel manipulator 3-RRR.The minimum driving angles are regarded as optimization goal,and the lengths of l links are parameterized via ADAMS by creating the designing points of the manipulator.Through simulation,influence coefficients,between the diversification of parameters and driving angles,are acquired.The design goal can be realized with less work load, faster speed by filtering and revising of parameters of bigger influence sensibilities.
出处
《天津理工大学学报》
2009年第6期28-30,共3页
Journal of Tianjin University of Technology
基金
天津市应用基础与前沿技术研究计划项目(07JCZDJC09100)
天津理工大学大学生创新实验科技活动
