摘要
以3-PRC并联机器人机构为研究对象,在UG环境下建立了并联机构的虚拟样机模型,并将实体模型导入到ADAMS环境下,实现了3-PRC并联机器人机构的运动学及动力学性能仿真分析.该方法避免了复杂运动学与动力学方程的建立与求解,简化了并联机器人的设计开发工作,也为样机的调试与控制提供了理论依据.
3-PRC parallel robot is studied in this paper. The virtual prototype of it is established under the UG software and the digital models are imported into ADAMS. The kinematics and dynamics simulation and analysis of the virtual prototype model is accomplished. This method avoids the modeling and computing of complex kinematics and dynamics formula, simplifies the design and development of mechanical products, therefore, more energy can be used on improving the characteristics and optimizing the structure. Meanwhile, it also provides theoretical foundation for prototype＇s debugging and control.
出处
《山东理工大学学报（自然科学版）》
CAS
2007年第4期10-13,共4页
Journal of Shandong University of Technology:Natural Science Edition
基金
山东省自然科学基金资助项目(Y2006F59
Y2006G17)
山东省教育厅资助项目(J05C14)
山东理工大学科研基金资助项目(2004KJM05)
关键词
并联机器人
虚拟样机
运动学
动力学
仿真
parallel robot
virtual prototype
kinematics
dynamics
simulation
