基于虚拟样机的单臂柔性臂振动特性研究

Study on the Vibration Characteristics of Single-arm Flexible Arm Based on Virtual Prototype

为了可以更便捷、有效测试柔性臂的振动情况,利用虚拟样机平台对柔性臂的振动特性与受力状态进行了分析。首先,基于Solidwork软件进行机械臂刚性系统建模。其次,因要考虑柔性体部件对系统运动的影响,以准确地模拟整个系统的运动,并获得准确的动力学仿真结果,采用Ansys和Adams软件进行联合仿真分析,即采用Ansys软件对机械臂进行柔性建模得到包含柔性体所有参数的模态中性文件MNF文件,并将其导入Adams中进行柔性臂的替换,得到一个单臂柔性臂系统模型,通过添加约束以及驱动函数进行应变仿真测试。最后,分析了柔性臂应变值变化特点,并通过理论分析、仿真结果以及实验操作结果的对比,验证了该虚拟样机平台进行柔性系统振动仿真结果的有效性。

In order to test the vibration of the flexible arm more conveniently and effectively,the vibration characteristics and force state of the flexible arm are analyzed by using a virtual prototype platform.First of all,based on Solidwork software for the rigid system modeling of the robotic arm,and then,in order to consider the influence of the flexible body components on the system motion,in order to accurately simulate the motion of the entire system,and obtain accurate dynamic simulation results,the ansys and Adams software were used for joint simulation analysis,that is,the Ansys software was used to flexibly model the robot arm to obtain a modal neutral file MNF file containing all the parameters of the flexible body,and it was imported into the Adams for the replacement of the flexible arm.A one-arm flexible arm system model is obtained,the strain simulation test is carried out by adding constraints and driving functions,and finally,the characteristics of the strain value change of the flexible arm are analyzed,and the validity of the vibration simulation results of the flexible system is verified by the comparison of theoretical analysis,simulation results and experimental operation results.