基于虚拟样机技术的一种新型3P-1R并联机构的运动学仿真  

Kinematics Simulation of a New 3P-1R Parallel Mechanism Based on Virtual Prototype Technology

作　　者：张瑛 张庆功[2] 

机构地区：[1]衢州中等专业学校,浙江衢州324000 [2]浙江工业大学浙西分校机电控制工程系,浙江衢州324000

出　　处：《轻工机械》2008年第3期37-39,44,共4页Light Industry Machinery

基　　金：浙江省自然科学基金资助项目(Y104347)

摘　　要：基于单开链单元的并联机器人机构组成原理,构造了一种能实现空间三维移动和一维转动的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参数化模型;通过CAXA与ADAMS之间的数据交换,实现了AD-AMS环境下该新型3P-1R并联机构虚拟样机的运动学仿真。结果表明,新型3P-1R并联机构虚拟样机构建合理,运动学仿真可信,为其物理样机的试制奠定了基础。A new 4-DOF parallel robot mechanism with 3-translation and 1-rotation was constructed with structure theory principle of single-opened-chain parallel robot. The 3D parametric model of the new 3P-1R parallel mechanism was established by CAXA solid design software. Data exchange between CAXA and ADAMS was completed. The virtual prototype of the 3P-1R parallel mechanism was constructed in ADAMS. The kinematics simulation of the virtual prototype was realized. The conclusion shows that the construction of the 3P-1R parallel mechanism is reasonable and that the kinematics simulation is credible thus lays the foundation for the trial-manufacture of the new 3P-1R parallel mechanism.

关 键 词：并联机构 参数化建模 虚拟样机 运动学仿真 

分 类 号：TP391.72[自动化与计算机技术—计算机应用技术]