摘要
在对一种6自由度并联机器人受力特点分析的基础上,应用SOLIDWORKS建立了并联机器人的虚拟样机简化模型,通过数据转换技术将模型导入ADAMS。应用ADAMS软件对并联机器人进行了承载能力仿真,得到了各向负载与驱动力的关系曲线,确定了并联机器人的各向承载能力。仿真结果证明并联机器人各向承载能力取决于某个驱动元件的受力,该并联机器人承载能力在工作空间内比较一致。
Based on force analysis of a type of 6 DOF parallel robot, a virtual prototype model of the robot is established by SOLIDWORKS. The model is exported into ADAMS by means of data exchange. Load-bearing capacity of the parallel robot has been simulated by ADAMS. Relation curves between capacity and driving force were gained in all directions, and load-bearing capacities were confirmed. The result of simulation proved that load-bearing capacity of the parallel robot in each direction is determined by one of the drivers, and load-bearing capacity of this robot has consistency in working space.
出处
《制造业自动化》
北大核心
2007年第7期79-81,98,共4页
Manufacturing Automation
作者简介
刘彦武（1977-），男，陕西富平人，博士研究生，主要研究方向为并联机器人，机电一体化。
