现代制造工程Issue(12)：38-42,107,6.DOI:10.16731/j.cnki.1671-3133.2017.12.007
基于刚柔耦合模型的重载搬运机器人动力学仿真分析与结构优化
Dynamic simulation and structural optimization of heavy-load transfer robot based on rigid-flexible coupling simulation model
摘要
Abstract
In order to accurately analyze the advantages and disadvantages of the structure design of heavy -load transfer robot,the rigid-flexible coupling multi-body model of heavy-load transfer robot for performance analysis is built up with ADAMS.The dy-namic simulation under typical working conditions of heavy load transportation of heavy -load transfer robot is carried out based on the model,the advantages and disadvantages of different kinds of motor control methods are analyzed,and the vibration displace-ment of heavy load transfer robot is analyzed.The structure of heavy-load transfer robot is optimized by the analysis results,and the validity of the structure optimization is verified by the dynamic simulation of heavy-load transfer robot's rigid-flexible coupling model.The applied modeling and analysis method is simple and reliable,which can improve the work efficiency,and has a certain engineering practical value.关键词
重载搬运机器人/刚柔耦合/动态仿真/结构优化Key words
heavy-load transfer robot/rigid-flexible coupling/dynamic simulation/structural optimization分类
信息技术与安全科学引用本文复制引用
苗登雨,孙玉萍,周新,张志伟..基于刚柔耦合模型的重载搬运机器人动力学仿真分析与结构优化[J].现代制造工程,2017,(12):38-42,107,6.基金项目
江苏省产学研前瞻性联合研究项目(BY2011172) （BY2011172）
