基于ADAMS的机械臂刚柔耦合动态特性分析-包装工程.PDFVIP

第39 卷 第9 期 包 装 工 程 2018 年5 月 PACKAGING ENGINEERING ·177 · 基于 ADAMS 的机械臂刚柔耦合动态特性分析 边兵兵 （平顶山工业职业技术学院，平顶山 467001 ） 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。 关键词： 刚柔耦合；动力学；ADAMS ；应力分布 中图分类号：TB486 ；TP241 文献标识码：A 文章编号： 1001-3563(2018)09-0177-05 DOI ：10.19554/j.cnki.1001-3563.2018.09.031 Rigid-flexible Coupling Dynamic Characteristics of Manipulator Based on ADAMS BIAN Bing-bing (Pingdingshan Industrial College of Technology, Pingdingshan 467001, China) ABSTRACT: 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 anal- ysis 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. KEY WORDS: rigid-flexible coupling; dynamic; ADAMS; stress distribution 随着虚拟样机技术和有限元技术的出