基于ADAMS的平动机构运动轨迹的规划与验证

Kinematic Trajectory Planning and Verification to Translational Parallel Mechanism Based on ADAMS

应用ADAMS虚拟样机软件创建了一种三自由度平动并联机构的模型,利用矢量法求解了这个机构的运动反解.预设该机构的末端执行器的运动轨迹,经过逆向仿真,得出主动臂的转角变化数据曲线.再应用ADAMS软件的后处理模块将数据曲线转化成样条曲线,利用样条插值函数将样条曲线转化成可输入的数据函数.当在机构主动臂上输入数据函数转角,末端执行器就会按照预设的轨迹运动.同时进行了正向仿真,得到末端执行器的运行轨迹与预设的运行轨迹基本一致.轨迹规划代替了大量的位置正反解运算,解决了理论求解多解取舍问题.在设计末端执行器的运行轨迹和对其它并联机构的运动分析时有借鉴意义.

Based on ADAMS virtual prototyping software,a 3-DOF translational parallel mechanism＇s model is established in this paper.This paper derives the inverse solution of the mechanism by using of vector method.This paper preinstall kinematic track of the parallel mechanism＇s end-effector,and obtain data curves of driving arm＇s the angle change through the inverse simulation.Then,the data curves are processed by a postprocessing module of ADAMS to get the spline curves.Then,the spline curves are transformed into input data function by the spline interpolation function.When inputing data function of angle on the driving arm,mechanism＇s end-effector will run in accordance with the preset trajectory.Running track of the parallel mechanism＇s end-effector during the forward simulation consistent with preset trajectory.Path planning replace a large number of operation of forward and inverse solution,and solve the question of choice for many results during the theoretical solution.This technique can provide a useful tool in the design of running track of the parallel mechanism＇s end-effector and the kinematical analysis of other parallel mechanism.