基于Amesim的并联机构反解模块研究  

Research on Inverse Solution Module of Parallel Mechanism Based on Amesim

作　　者：李京 叶晓帅 费烨 LI Jing;YE Xiao-Shuai;FEI Ye(School of Mechanical Engineering,Shenyang Jianzhu University,Shenyang Liaoning110168,China;Hangzhou Guochenzhengyu Technology Limited Company,Hangzhou Zhejiang311200,China)

机构地区：[1]沈阳建筑大学机械工程学院,辽宁沈阳110168 [2]杭州国辰正域科技有限公司,浙江杭州311200

出　　处：《机电产品开发与创新》2022年第4期114-116,132,共4页Development & Innovation of Machinery & Electrical Products

摘　　要：分析并联机构实际操作中的控制需求,根据几何原理分析了并联机构反解的基本算法。基于AMESim仿真软件,利用其Submodel Editor功能制作了并联机构运动反解模块,并详细阐述了制作的过程。利用六自由度并联机构试验样机,验证了反解模块的正确性。完成反解模块的制作,将大大提升同类产品在AMESim中的仿真建模效率,降低了后续使用者的使用难度。In this paper,the control requirement of parallel mechanism in practice is analyzed,and the basic algorithm of inverse solution of parallel mechanism is analyzed according to geometric principle.Based on the Amesim simulation software,a parallel mechanism motion inverse solution module is built by using its Submodel Editor function,and the process is described in detail.The correctness of the inverse solution module is verified by using the six degrees of freedom parallel mechanism test prototype.Completing the anti-solution module will greatly improve the simulation modeling efficiency of the same product in Amesim,and reduce the difficulty for subsequent users.

关 键 词：控制仿真 并联机构 运动学反解 

分 类 号：TH113.2[机械工程—机械设计及理论]