夹持机械手刚柔耦合虚拟样机建模及性能分析

Rigid- flexible coupling virtual prototype modeling and performance analysis of holding manipulator

为了准确分析夹持机械手动力学性能,需要考虑柔性体弹性变形对夹持机械手动态特性的影响。鉴于物理样机实验成本较高且设计周期较长,提出一种夹持机械手刚柔耦合虚拟样机建模方法。首先用Solid Works软件进行夹持机械手三维实体建模;其次将模型导入ANSYS软件,分析确定主要柔性体并生成其模态中性文件;接着用模态中性文件替换ADAMS刚体模型中相应的刚性部件,完成夹持机械手刚柔耦合虚拟样机建模;最后对所建模型进行动力学仿真,对比分析仿真结果,验证了模型的正确性。研究表明,对夹持机械手等大型机械系统进行动力学分析时,构件的弹性变形不可忽略,采用刚柔耦合动力学建模方法能够更加深刻地揭示夹持机械手的固有动力学特性。

In order to analyze the mechanical properties of holding manipulator accurately, the effect of elastic de- formation of flexible body on the dynamic characteristics must be taken into consideration. In view of the high cost and the long design cycle of physical prototype experiment, a kind of rigid - flexible coupling virtual prototype modeling method of holding manipulator was put forward. Firstly, the software Solid- Works was used to carry out three -dimensional solid model of the machine. Secondly, the model was imported into ANSYS to analyze and determine the main flexible body and generate its modal neutral file. Then replaced the rigid parts of rigid body model in ADAMS with the modal neutral file, and the model of rigid - flexible coupling virtual prototype of holding manipulator was established. At last, the model was simulated, and the correctness of the model was verified by comparing and analyzing the sim- ulation results. The research shows that the elastic deformation of flexible body can＇ t be ignored in the dynamic analysis of the holding manipulator. The rigid -flexible coupling dynamic modeling method can reveal the inherent dynamic characteristics of holding manipulator more deeply.