基于ADAMS的飞机表面清洗臂动力学仿真与分析（英文）  

Dynamics analysis and simulation for aircraft surfaces cleaning manipulator based on ADAMS

作　　者：金玉阳[1,2] 张明路[1] 姚锦博 于常娟[1] 

机构地区：[1]河北工业大学,天津300130 [2]中国民航大学机器人研究所,天津300300

出　　处：《机床与液压》2015年第12期41-45,共5页Machine Tool & Hydraulics

基　　金：supported by Special Funding for Basic Scientific Research in Colleges and Universities Operating Costs of the Central ( 20001833)

摘　　要：针对五自由度的飞机表面清洗机械臂,利用Lagrange方程建立了清洗臂的动力学模型,采用Solidworks建立了该清洗臂的实体模型,将其导入到动力学分析软件Adams中生成了虚拟样机,并进行了动力学仿真与分析,由此得出各关节转角和关节力矩的关系曲线,确定了关节所需的输入力矩。这为机械臂的控制、关节驱动形式的确定提供了可靠依据。Focusing on the 5-DOF（Degree-of-Freedom） serial robot for cleaning aircraft surfaces, the dynamic model of the cleaning manipulator is established by using Lagrange lish the virtual model of the cleaning manipulator, then, the model ＇ s equations, Solidworks was utilized to estab- was imported into ADAMS to generate the virtual prototype, and through carrying on the dynamic simulation and analysis, we obtained the relation curves of joint angles and joint torques, and determined the input joint torque required, which provides a reliable basis for the control and types of joint driving.

关 键 词：机器人 运动学 动力学 ADAMS 拉格朗日方程 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]