CAJ | 학술논문

对于并联机器人机构来说,其刚体动力学模型具有多变量、多参数耦合的特点,因而型式复杂,使动力学的求解时间长而难以满足控制系统的实时性要求.借助ADAMS软件,构造并联机器人虚拟样机模型,分析并联机器人的动力响应,为实际的样机调试和设计提供了有意义的借鉴.
대우병련궤기인궤구래설,기강체동역학모형구유다변량、다삼수우합적특점,인이형식복잡,사동역학적구해시간장이난이만족공제계통적실시성요구.차조ADAMS연건,구조병련궤기인허의양궤모형,분석병련궤기인적동력향응,위실제적양궤조시화설계제공료유의의적차감.
@@@@The solution for parallel robot dynamic analysis is difficult because the dynamic model is complex with multiparameter coupling,many inputs and outputs. The real time control can not be suitable. A virtual prototype was proposed and dynamic analysis was completed with ADAMS software. It is effective for physical prototype research and design.