边兵兵.基于ADAMS的机械臂刚柔耦合动态特性分析[J].包装工程,2018,39(9):177-181.
BIAN Bing-bing.Rigid-flexible Coupling Dynamic Characteristics of Manipulator Based on ADAMS[J].Packaging Engineering,2018,39(9):177-181. |
| 基于ADAMS的机械臂刚柔耦合动态特性分析 |
| Rigid-flexible Coupling Dynamic Characteristics of Manipulator Based on ADAMS |
| 投稿时间：2017-07-18 修订日期：2018-05-10 |
| DOI：10.19554/j.cnki.1001-3563.2018.09.031 |
| 中文关键词: 刚柔耦合 动力学 ADAMS 应力分布 |
| 英文关键词: rigid-flexible coupling dynamic ADAMS stress distribution |
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| 中文摘要: |
| 目的 为了考察机械臂在自动包装线上的动态特性，对机械臂进行不同工况和不同参数组合的研究。方法 采用UG软件对机械臂进行三维结构建模，利用ADAMS和Ansys软件对机械臂进行刚柔耦合动力学仿真分析，得到不同工况下大臂的受力曲线和规律。结果 仿真结果表明，在不同参数组合下，机械臂的大臂最大应力值为241.49 MPa，铰链处的作用力和扭矩变化不大，强度满足使用要求。结论 通过ADAMS和Ansys的联合仿真，可有效预测机械臂的运动规律和应力分布。 |
| 英文摘要: |
| The work aims to study the dynamic characteristics of the manipulator on the automatic packaging line, and research the combination of different working conditions and different parameters of the manipulator. The three-dimensional structural modeling of manipulator was conducted by UG software. The rigid-flexible coupling dynamic simulation analysis was carried out with ADAMS and Ansys software to obtain the stress curve and law of the boom under different working conditions. The simulation results showed that, under the combination of different parameters, the maximum stress of the boom of the manipulator was 241.49 MPa, the force and torque fluctuation at the hinge was small, and the strength satisfied the usage requirement. The co-simulation of ADAMS and Ansys can effectively predict the motion law and stress distribution of the manipulator. |
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