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分析了SAMCEF软件的特点,建立了柔性并联机器人的虚拟仿真模型,并进行了仿真分析。介绍了SAMCEF软件的相关模块在柔性并联机器人虚拟仿真中的应用。利用API接口技术开发了自动计算机器人固有频率、系统任一点内力的程序,扩展了SAMCEF软件的功能和用途。以平面3-RRR柔性并联机器人为例,介绍了建模要点和仿真流程。仿真结果表明该模型能正确地反映柔性并联机器人的运动学、动力学特性,杆件的弹性变形对柔性并联机器人的运动学、动力学性能具有重要影响。
The characteristics of SAMCEF software are analyzed, and a virtual simulation model of flexible parallel robot is established and simulated. This paper introduces the application of SAMCEF software modules in the virtual simulation of flexible parallel robot. The API interface technology was used to develop a program that automatically calculates the robot natural frequency and internal force at any point of the system, and expands the function and use of the SAMCEF software. Taking plane 3-RRR flexible parallel robot as an example, the modeling points and simulation flow are introduced. The simulation results show that the model can correctly reflect the kinematics and dynamics of the flexible parallel robot, and the elastic deformation of the rod has an important influence on the kinematics and dynamics of the flexible parallel robot.