基于ADAMS的柔性焊接机器人动力学仿真  

Dynamics Simulation of Flexible Welding Robot Based on ADAMS

作　　者：彭礼辉[1] 李光[1] 刘领化[1] 

机构地区：[1]湖南工业大学机械工程学院,湖南株洲412007

出　　处：《湖南工业大学学报》2011年第4期45-48,共4页Journal of Hunan University of Technology

摘　　要：在Pro/E中完成了焊接机器人的三维建模,然后导入ADAMS软件中,添加约束后建立了焊接机器人的虚拟样机模型。考虑到柔性构件对机器人系统运动性能的影响,构建了该机器人的刚柔耦合模型,并进行了动力学仿真。结果表明:柔性手臂构件对机械手的运动精度产生了较大影响。Set up three-dimensional model of welding robot by Pro/E. Imported the model to the software of ADAMS, added constraints and established the virtual prototype model. Considering the influence of flexible components on the robot motion performance, constructed a rigid-flex coupling model of the welding robot and conducted dynamics simulation. The results show that flexible arm components have significant impact on the motion accuracy of manipulator.

关 键 词：机械动力学 虚拟样机 刚柔耦合模型 

分 类 号：P242.2[天文地球—测绘科学与技术] TP391.9[自动化与计算机技术—计算机应用技术]