煤炭采样机械臂刚柔耦合动力学建模与仿真分析

Dynamic Model and Simulation with Rigid-flexible Mode for Coal Sample Manipulator

根据实际应用场景及动力学理论,可以将煤炭采样机械臂看做柔性臂,并且使用仿真软件ANSYS、ADAMS以及Pro/E综合建立刚柔耦合动力学模型和刚性模型,分别对2种模型进行仿真研究,并且对比仿真结果。研究表明,对煤炭采样机械臂来说,刚柔耦合模型更符合实际情况,本研究为未来对机械臂的分析与结构优化提供理论参考。

According to the real application circumstances,the mechanic arms of coal sample manipulator can be regard as flexible arm. Rigid-flexible model and rigid model are established with the simulation software ANSYS,ADAMS and Pro / E. Simulation has been done with the two models,and results were analyzed. The research showed that the rigid-flexible model is more suitable for the coal sample manipulator arms. This research laid the foundation for the future optimization.