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.
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
关键词
机械动力学
虚拟样机
刚柔耦合模型
mechanical dynamics
virtual prototype
rigid-flex coupling model
