| 基于ADAMS空间串联机构运动空间的仿真与分析 |
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| 引用本文： | 臧红彬.基于ADAMS空间串联机构运动空间的仿真与分析[J].机械设计与制造,2011(7). |
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| 作者姓名： | 臧红彬 |
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| 作者单位： | 西南科技大学,制造过程测试技术教育部重点实验室,绵阳,621010 |
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| 基金项目： | 西南科技大学青年基金科研项目(11zx3146) |
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| 摘 要： | 针对机构学中常用的空间串联机构,用D-H齐次坐标变换建立了六自由度为代表的空间串联机构的运动空间方程,利用机械系统动力学自动分析软件ADAMS建立了二至六自由度空间串联机构的虚拟样机模型,基于虚拟样机技术,对二至六自由度空间串联机构运动空间进行了系统地仿真与分析。研究发现运动空间的形状与自由度的个数和杆的长度有着密切的关系,当自由度达到3个及以上时,不合理的杆长组合会在运动空间中形成盲区,满足一定的条件就可以消除盲区。
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| 关 键 词： | 运动空间方程 ADAMS 虚拟样机技术 运动空间仿真 |
Simulation and analysis of motion space of spatial series mechanism based on ADAMS |
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| ZANG Hong-bin.Simulation and analysis of motion space of spatial series mechanism based on ADAMS[J].Machinery Design & Manufacture,2011(7). |
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| Authors: | ZANG Hong-bin |
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| Affiliation: | ZANG Hong-bin(Key Laboratory of Testing Technology for Manufacturing Process(Ministry of Education),Southwest University of Science and Technology,Mianyang 621010,China) |
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| Abstract: | Aiming at spatial series mechanism in mechanism,a motion equation for a six-DOF was built with the D-H homogeneous coordinate transformation.The virtual prototyping models were built from the two to six-DOF with the mechanical dynamics analysis software ADAMS.Based on the virtual prototyping technology,the motion spaces of spatial series mechanism from two to six-DOF were simulated and analyzed,and it is found that the shape of movement is closely related to the freedom numbers of space and the length of li... |
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| Keywords: | Motion equation ADAMS Virtual prototyping technology Simulation and analysis of motion space |
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