基于UG和ADAMS的BHG-1夹持器虚拟设计与仿真  

Virtual design and simulation of gripper BHG-1 with UG and ADAMS

作　　者：陈明[1] 战强[1] 刘增波[1] 牛海军[1] 

机构地区：[1]北京航空航天大学机器人研究所,北京100083

出　　处：《机械设计与制造》2007年第1期115-117,共3页Machinery Design & Manufacture

摘　　要：采用UG和ADAMS研究了一种新型夹持器机构BHG-1的虚拟设计和仿真方法,运用UG来实现夹持器三维模型的虚拟设计和虚拟装配,将装配体导入ADAMS中,运用ADAMS对夹持器夹持不同形状物体进行运动学和动力学的仿真。通过对夹持器机构的虚拟设计和仿真,不但可以很直观地了解夹持物体的具体过程,还可以通过仿真曲线了解其速度、加速度以及接触力的变化情况,为BHG-1夹持器的控制提供参考数据。With UG and ADAMS the virtual design and simulation of a new gripper BHG-1 were researched. The virtual design and virtual assembly of the 3D model of the gripper were implemented with UG, after the virtual assembly was imported into ADAMS the kinematics and dynamics simulation of the gripper to grasp different shape objects were done there. By the virtual design and simulation of the gripper, not only the detailed process of grasping can be learned directly, but also the speed,acceleration and contact forces can be gotten from the simulation curves, so as to provide reference data for the control system design.

关 键 词：夹持器 运动仿真 虚拟设计 虚拟装配 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]