基于CAD-CAE集成技术的高速并联机器人弹性动力学性能分析

Analysis on high-speed parallel robot's elasto-dynamic performance based on CAD-CAE integration technology

文中以一类由外转动副驱动、含平行四边形支链的2,3和4自由度高速并联机器人为研究对象,提出一种基于CAD-CAE集成技术的有限元快速建模与更新方法。其要点为:针对工作空间中某一参考位形,首先,通过IGES/STEP等标准接口,将各结构件SolidWorks实体模型导入CAE软件SAMCEF,并通过自动提取各结构件实体模型连体坐标系相对于机架参考坐标系的位姿特征信息,建立SAMCEF环境下的几何模型;然后,通过将有限元分析特征信息自动编译为参数化脚本(Bacon)文件,建立整个机器人的参数化有限元模型。该方法特色在于:当机器人位形变化时,仅需更新CAD模型提供的位姿与有限元分析信息,便可自动生成新位形下的机器人有限元模型,进而显著提高面向全域弹性动力学性能分析需求的有限元建模效率。

In this article,efforts are made to explore the 2,3,4 DOF high-speed parallel robots,which contain parallelogram branches and are driven by the external revolute joints.A method based on CAD-CAE integration technology is proposed for finite-element(FE)modeling and updating in a quick manner.The key points are as fllows:For a reference configuration in the workspace,the SolidWorks solid models of each structural component are imported into the CAE software SAMCEF through such standard interfaces as IGES/STEP;the geometric model in the SAMCEF environment is set up by automatically extracting the pose features of the connected coordinate system of each structural component's solid model relative to the frame's reference coordinate system.Then,by automatically compiling the finite-element analytical features into a parameterized script(Bacon)file,the parameterized finite-element model of the whole robot is set up.The characteristics of this method are as follows:when the robot's configuration changes,only the pose features provided by the CAD model and the finite-element analytical information need to be updated,and the robot's finite-element model can be automatically generated with its new configuration.As a result,it has greatly improved the efficiency of finite-element modeling for global analysis on elastic-dynamic performance.