工程设计学报2012，Vol.19Issue(5)：362-365,4.DOI:10.3785/j.issn.1006-754X.2012.05.007
基于ADAMS的冗余驱动并联机器人动力学仿真研究
Study on dynamics simulation of redundantly actuated parallel robot based on ADAMS
摘要
Abstract
To make sure that the robots have good structure performance and work performance, good dynamics characteristics must be included in the structure system. As for the issue of dynamics characteristics, simplified 2-DOF redundantly actuated parallel robot model was established in the platform of ADAMS simulation software. The inverse kinematics were solved, using the method of redundant driving force to control electrical machine. At last the dynamics simulation was accomplished. The result indicated that in the driving force optimization process, the change extent and the peak value of each driving force decreased, the driving force of electrical machine was optimized and the driving function of parallel robot was improved effectively. The proposed methods and results have strong generality and broad prospect in application of the study on related redundantly actuated parallel robot, also provided the theory basis for the debugging and control of parallel robot.关键词
冗余驱动并联机器人/ADAMS/驱动力优化/动力学仿真Key words
redundantly actuated parallel robot/ ADAMS/ driving force optimization/dynamics simulation分类
信息技术与安全科学引用本文复制引用
惠记庄,魏芳胜,高凯,丁香..基于ADAMS的冗余驱动并联机器人动力学仿真研究[J].工程设计学报,2012,19(5):362-365,4.基金项目
陕西省自然科学基金资助项目(2011JM7007). （2011JM7007）
