ADAMS在并联机构运动学分析中的应用

Application of ADAMS in parallel robot's kinematics analysis

针对并联机构的运动学分析计算,以3-UPS/UP型并联机构为例,介绍了应用动力学仿真分析软件ADAMS对其进行运动学仿真的方法与步骤。采用三维CAD软件Inventor建立了几何模型,以Parasolid格式导入ADAMS环境,对几何模型施加约束与激励,建立了并联机构的虚拟样机模型。并对模型进行了逆向与正向运动学仿真,快速准确地求得了并联机构的运动学反解与正解,大大简化了计算过程,为并联机构的运动学分析及机构设计提供了借鉴。

Aming at the parallel robot＇s kinematics analysis and calculation,the 3-UPS/UP parallel mechanism was taken for example and the steps and method were introduced that using the dynamics simulation software ADAMS to get the kinematic positive and inverse kinematics solution.The virtual prototype of 3-UPS/UP parallel robot was established in ADAMS after using the software Inventor to get 3-D model assembling,then the virtual prototype were imposed joints and motion.The kinematic positive and inverse simulation were run to get direct kinematics solution and positive solutions rapidly and exactly.The result indicates that the method simplifys the process of calculating largely and provides meaningful examples for the parallel robot＇s kinematic analysis and mechanism designing.