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应用“自上而下”设计、广义模块化设计和参数化设计等方法,实现3-PRRPu并联机器人机构虚拟样机设计;基于Pro/E软件布局和骨架模型的“自上而下”设计方法,依据并联机构结构特点划分虚拟样机广义模块和设计广义模块接口,并通过Pro/E软件所支持的互换设计实现模块互换综合。在创建布局过程中,提出一种利用Pro/E软件三维绘图和AUTOCAD二维绘图功能相结合创建布局的新方法。运用Pro/E软件对虚拟样机进行正、逆运动学分析,利用ADAMS软件进行动力学分析。
The virtual prototyping design of 3-PRRPu parallel robotic mechanism is realized by using the methods of “top-down” design, generalized modular design and parametric design. Based on the Pro / E software layout and skeleton model, "Design method, according to the characteristics of the parallel mechanism structure division of virtual prototype generalized module and the design of generalized module interface, and through Pro / E software to support the interchangeable design module interchangeability. In the process of creating a layout, a new method of creating a layout using a combination of Pro / E software 3D drafting and AUTOCAD 2D drafting is proposed. Pro / E software was used to carry out positive and inverse kinematics analysis of virtual prototype, and dynamic analysis was carried out by using ADAMS software.