基于SAMCEF的三坐标并联动力头建模与仿真
首发时间:2015-04-07
摘要:利用SAMCEF软件完成了一种三坐标并联动力头的建模与仿真。首先在SAMCEF软件中建立了并联动力头机器人的三维实体模型;然后通过规划典型运动轨迹,并利用运动学逆解模型计算得到驱动关节各相关驱动参数;最后在SAMCEF软件下建立了该并联机器人机构的多柔体动力学模型,并进行了瞬态动力学仿真。通过仿真研究机器人在工作空间边界运动过程中,重力和惯性力作用下的弹性变形对末端轨迹精度的影响,为精密机器人动态性能的预估提供了有力支撑。
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Modeling and simulation of a 3-axis parallel machining head based on SAMCEF
Abstract:This paper investigates the dynamic modeling and simulation of a 3-axis parallel machining head using SAMCEF software. First, the CAD model of the machining head is constructed in SAMCEF. Next, a typical trajectory for such a machine is planned, and the data of each driving joint is obtained using the inverse kinematics model of the machine. Afterwards, the complete flexible multibody dynamics model of the mechanism is established in SAMCEF, and finally transient dynamics simulations are performed. Based on the simulations, the path accuracy of the end effector and the elastic deformation effect due to gravity and inertia force were studied with emphasis on robot movements near the workspace boundary. This approach provides a sounding basis for predicting the dynamic performance of precise robots.
Keywords: parallel machine tool SAMCEF dynamics modeling and simulation
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