基于虚拟样机技术的六自由度机械手建模与仿真

Model and Simulation for a 6-DOF Manipulator based on Virtual Machine Technology

六自由度机械手广泛地应用于工业、农业等领域中,发挥着重要的作用。为此,设计了一种六自由度机械手,并基于虚拟样机技术进行了建模与仿真。首先,利用Pro/ENGINEER软件,建立了一种六自由度机械手机械系统的三维模型;其次,利用Pro/ENGINEER的模块对机械手进行了虚拟装配;接着,采用专用接口模块Mechanism/Pro将模型导入动力学仿真软件MSC.ADAMS;之后,利用MSC.ADAMS软件对机械手进行虚拟样机动力学干涉检查,验证运动锁止位置的合理性并绘制出相关特性曲线,为加工六自由度机械手物理样机提供了依据。

Manipulators with six freedom degrees are widely used in industry,agriculture and other fields and play an important role.Firstly,it designed a 6-DOF manipulator mechanical system based on Pro/E software.Secondly,a virtual assembly of robot was completed to test the interference of the parts.On the base of the design to the parts of the manipulator used Pro/E software and special Mechanism/Pro model,the manipulator model can be imported to ADAMS software for interference checking,verifying the accuracy and precisions of the lock location.By this way the relevant characteristic curves of dynamic simulation can be drawn and the irrational part of the manipulator can be improved.Ultimately,it provided the basis for the machining of the physical prototype of manipulator with six degrees.