3-TPT并联机器人动力学仿真研究  

Dynamics simulation of 3-TPT parallel robot

作　　者：杨斌久[1] 蔡光起[2] 

机构地区：[1]哈尔滨工业大学(威海)船舶工程学院,威海264209 [2]东北大学机械工程与自动化学院,沈阳110004

出　　处：《哈尔滨工业大学学报》2009年第11期103-105,共3页Journal of Harbin Institute of Technology

基　　金：国家自然科学基金资助项目(59875012)

摘　　要：为了分析并联机器人动力学特性,采用ADAMS虚拟样机技术对3-TPT并联机器人的正逆向动力学问题进行了仿真研究.利用三维实体建模工具Pro/Engineer软件建立了并联机器人的三维实体模型,借助Pro/E软件和ADAMS软件的接口模块Mechanism/Pro,将三维实体模型导入到ADAMS并创建虚拟样机模型.分别对机器人的驱动杆、约束链的运动及受力等相关问题进行了仿真研究,获得了机器人动力学特性规律曲线.该虚拟样机技术对复杂机械动力学问题的研究具有借鉴作用.To analyse dynamics characteristics of parallel robot, virtual prototype technology was employed to conduct the dynamics simulation of 3-TPT parallel robot. Using the soft of Pro/Engineer, a 3 D substance mod- el of 3-TPT parallel robot was established. Then the model was imported to ADAMS by dint of Mechanism/ Pro, the interface module for Pro/E and ：ADAMS, and a virtual prototype model of 3-TPT parallel robot was established. According to the structural Characteristics of the robot, the driving rod and the restricting kinematics link were simulated. And the dynamics characteristics discipline of the 3-TPTparallel robot was obtained. Virtual prototype technology is a better way to study the dynamics of parallel robot and can provide the reference for the complex dynamics of mechanical problems.

关 键 词：并联机器人 虚拟样机 动力学 仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]