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为真实地反映悬挂式搬运翻曲机器人构件的运动及所受载荷情况,利用有限元分析软件Ansys对关键部件生成柔性体模态中性文件,通过专用接口导入Adams虚拟样机仿真软件,建立机器人的刚柔耦合动力学模型并进行仿真。所得数据导入Matlab中分析比较了多刚体模型和刚柔耦合模型下机器人末端质心处轨迹曲线偏差及肩关节所受力矩的情况。结果表明,考虑了弹性变形和振动情况下的刚柔耦合模型更加可靠、准确地反映出整机运动的真实动态特性,为机器人结构进一步改进及振动的减小提供数据支持。
In order to truly reflect the movement and the load of the hanged manipulator, the finite element analysis software Ansys was used to generate flexible body modal neutral files for the key components and imported into the Adams virtual prototype simulation software through a dedicated interface to build the robot Rigid-flexible coupled dynamic model and simulation. The data were imported into Matlab to analyze and compare the deviation of locus curve and the torque of shoulder joint under the multi-rigid body model and rigid-flexible coupling model. The results show that the rigid-flexible coupling model considering elastic deformation and vibration can reflect the real dynamic characteristics of the whole machine more reliably and accurately, providing data support for the further improvement of the robot structure and the reduction of vibration.