大型机器人冲压生产线多软件联合仿真

Multi-software Co-simulation for a Large Robotic Automatic Stamping Production Line

为快速设计研制大型机器人冲压生产线并满足运动学、动力学、刚度等方面的设计要求,提出基于接口技术的多软件联合仿真策略:利用Dynaform软件模拟板料冲压成形过程、捕获动态负载曲线,并加载到压机上用于逼近真实载荷;利用ANSYS软件对关键部件作柔性化处理并导入ADAMS中替换相应的刚体,建立刚柔耦合的冲压线虚拟样机。以加工汽车侧围板为例,建立冲压线中主压机的运动学和动力学数学模型,提出系统能耗指标和安全-效率平衡系数两个综合性能评价指标。将刚柔耦合虚拟样机的仿真结果与理论计算结果及多刚体虚拟样机的仿真结果进行对比分析。结果表明,刚柔耦合的虚拟样机能够提高仿真精度、更真实地反映加工过程,为冲压线的整体设计、关键参数选择及现场安装调试提供理论依据。

For the rapid design of large robotic automatic stamping production line,based on interface technology and multi-software co-simulation,a method was proposed to meet design requirements,such as kinematics,dynamics,stiffness and so on.By Dynaform software,sheet metal forming process was simulated,and dynamic load curve was captured and loaded into virtual prototype to approximate real load.Key components were changed into flexible bodies by ANSYS and were imported into ADAMS to replace corresponding rigid bodies and a rigid-flexible coupling virtual stamping production line was established.Processing vehicle side panels were taken as an example,and the mathematical models of kinematics and dynamics of main press in the stamping production line were established.The energy consumption index and safety-efficiency balance index were proposed to evaluate the comprehensive performance of the system.The rigid-flexible coupling virtual prototype simulation results were compared with theoretical calculations and multi-body virtual prototype simulation results.The analysis results show that rigid-flexible model can improve the simulation accuracy,may be closer to the real process and possess theoretical direction significance for overall design of stamping production line,the key parameter selection,on-site installation and commissioning.