3-PRRPu纯平动并联机器人虚拟样机设计及仿真

Design and Simulation of Virtual Prototype of 3-PPRPu Translational Parallel Robot

应用"自上而下"设计、广义模块化设计和参数化设计等方法,实现3-PRRPu并联机器人机构虚拟样机设计;基于Pro/E软件布局和骨架模型的"自上而下"设计方法,依据并联机构结构特点划分虚拟样机广义模块和设计广义模块接口,并通过Pro/E软件所支持的互换设计实现模块互换综合。在创建布局过程中,提出一种利用Pro/E软件三维绘图和AUTOCAD二维绘图功能相结合创建布局的新方法。运用Pro/E软件对虚拟样机进行正、逆运动学分析,利用ADAMS软件进行动力学分析。

Virtual prototype design of the novel 3 - PRRPu parallel robot is realized by using of the top - down method, generalized modular design and parametric design. Design program is completed in terms of the top - down method based on Pro/E layout and skeleton model. The generalized modules of the prototype are divided and modular interfaces are designed on the basis of parallel mechanism structure characteristics. The interchangeable synthesis of the modules is performed by using Pro/E software. A new approach to create layout is presented by using of the three - dimensional drawing function of Pro/E and the two - dimensional drawing function of AUTOCAD software. The for- ward and the inverse kinematics simulations of the virtual prototype are carried out by means of Pro/E software. In ad- dition, the dynamics analysis and simulation are discussed based on the ADAMS software.