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为了准确分析夹持机械手动力学性能，需要考虑柔性体弹性变形对夹持机械手动态特性的影响。鉴于物理样机实验成本较高且设计周期较长，提出一种夹持机械手刚柔耦合虚拟样机建模方法。首先用Solidworks软件进行夹持机械手三维实体建模；其次将模型导入ANSYS软件，分析确定主要柔性体并生成其模态中性文件；接着用模态中性文件替换ADAMS刚体模型中相应的刚性部件，完成夹持机械手刚柔耦合虚拟样机建模；最后对所建模型进行动力学仿真，对比分析仿真结果，验证了模型的正确性。研究表明，对夹持机械手等大型机械系统进行动力学分析时，构件的弹性变形不可忽略，采用刚柔耦合动力学建模方法能够更加深刻地揭示夹持机械手的固有动力学特性。
In order to accurately analyze the mechanical properties of the gripping manipulator, the influence of the elastic deformation of the flexible body on the dynamic characteristics of the gripping manipulator needs to be considered. In view of the high cost of experimental prototype and the long design cycle, a modeling method of rigid-flexible coupled virtual prototype of gripper robot is proposed. Firstly, Solidworks software was used to carry out 3D solid modeling of the gripper manipulator. Secondly, the model was imported into ANSYS software to analyze and determine the main flexible body and generate its modal neutral document. Then, the modal neutral documents were used to replace the corresponding rigid parts in ADAMS rigid body model , The rigid-flexible coupling virtual prototype of the gripper manipulator is completed. Finally, the dynamic simulation of the model is carried out. The simulation results are compared and the correctness of the model is verified. The research shows that the elastic deformation of the components can not be neglected when analyzing the dynamics of large mechanical systems such as gripper manipulator. The rigid-flexible coupling dynamics modeling method can reveal the intrinsic dynamics of the gripper manipulator more profoundly.