基于ADAMS和ANSYS的机械臂刚柔耦合运动学分析

Rigid-flexible Coupling Kinematics Analysis of Manipulator Based on ADAMS and ANSYS

针对机械臂的设计要求,设计了一种由两个铰链四杆机构组成的双自由度机械臂,利用ADAMS建立机械臂的刚性体模型,仿真得到不同时刻的运动参数曲线;利用ANSYS建立指定部件的柔性体模型,得到不同阶数的模态频率和模态振型值;利用ADAMS和ANSYS进行联合仿真后,得到机械臂的刚柔耦合模型,仿真结果表明:柔性体模型在z方向发生了微小位移变化,x、y方向位移波动范围增加了10 mm。利用Altium Designer软件绘制控制电路图并进行了实物制作,实验结果表明该机械臂具有广泛的适用性。

For the design requirements of the manipulator,a double-degree-of-freedom manipulator composed of two hinged four-bar mechanisms was designed.The rigid body model of the manipulator was established by using ADAMS,and the motion parameter curves at different moments were obtained by simulation.A flexible body model of a specified component was built by using ANSYS,and modal frequencies and modal vibration mode values at different orders were obtained.The rigid-flexible coupling model of the manipulator was obtained after the joint simulation of ADAMS and ANSYS.The simulation results show that the flexible body model has a slight displacement change in z direction,and the displacement fluctuation range in x and y directions increases by 10 mm.The control circuit diagram was drawn by using Altium Designer software and the physical prototype was made.The experimental results show that the robot arm has wide applicability.