基于Pro/E和ADAMS的并联机构设计与仿真

Design and simulation of a parallel mechanism based on Pro/E and ADAMS

根据并联机器人机构结构综合理论,以单开链支路为单元,提出了一种能实现一维转动和一维移动的两自由度平面型并联机构。该机构由两条主动支链为P⊥R//R,一条辅助支链为P⊥R组成。对该并联机构进行结构和位置分析,求出其运动学正反解。采用Pro/E软件对其进行三维实体建模,利用mech/pro设置各运动副约束并导入Adams仿真软件。借助于Adams软件进行动态仿真,验证理论推导的正确性。机构的运动学模拟仿真为该机构作进一步的动力学及优化设计研究打下基础,并为系统控制提供了理论依据。

According to the systematic method for topological structure synthesis of parallel mecha-nism,one parallel mechanism of two degree of freedom（2-DOF）realizing 1 translation-1 rotation（1T-1R） is put forward with single-opened-chain （SOC）as a unit.The mechanism is composed of two platforms mu-tually connected by two P⊥R//R and one P⊥R serial kinematics chains,where R and P stand for revolute,prismatic,respectively.Position analysis and structure analysis are made,thus positive solution and inverse solution is obtained.Then the three-dimensional solid is modeled by Pro/E,and the constraint pair is set and imported into Adams by mech/pro.With the help of Adams software,dynamic simulation is done which veri-fies the validity of theoretical analysis.In one word the kinematic simulation for the mechanism lays a foun-dation for further study of kinematics and optimal design of the mechanism,and provides a theoretical base for the system control of this mechanism.