基于CAXA和ADAMS的新型3P-1R并联机构的建模与运动仿真  

Modeling and Motion Simulation of New Type 3P-1R Parallel Mechanism Based on CAXA and ADAMS

作　　者：张庆功[1] 马晓丽[1] 汪建平[1] 周兆忠[1] 

机构地区：[1]浙江工业大学浙西分校机电控制工程系,衢州324000

出　　处：《机械制造》2008年第2期19-21,共3页Machinery

基　　金：浙江省自然科学基金(编号:Y104347)

摘　　要：基于以单开链为单元的并联机器人机构组成原理,构造了一种新型的3P-1R并联机构。运用CAXA实体设计软件创建了该并联机构的三维模型,并在ADAMS中实现了该机构虚拟样机的运动仿真。结果表明,新型3P-1R并联机构动平台的运动规律与理论计算一致,运动仿真具有可信度。Based on the build-up principle of the parallel manipulator with single-opened-chain as its units, a new type 3P-1R parallel mechanism is provided. The 3D model of the parallel mechanism is established with the help of CAXA and the motion simulation of virtual prototype of this mechanism is implemented with the help of ADAMS. The result shows that the motion law of the moving platform of the 3P-1R parallel mechanism conforms to the theoretical calculation. There is a high reliability in motion simulation.

关 键 词：并联机构 自由度 参数化建模 虚拟样机 运动仿真 

分 类 号：TP391.72[自动化与计算机技术—计算机应用技术]