CAJ | 학술논문

以两自由度并联机械手为研究对象，运用ADAMS软件建立虚拟样机模型并仿真，并采用并联机械手设备对模型进行验证。以主动臂最大转角范围为优化目标，对并联机械手的虚拟样机的主动臂臂长、从动臂臂长、位置偏置距离进行参数化设计和优化设计。
이량자유도병련궤계수위연구대상，운용ADAMS연건건립허의양궤모형병방진，병채용병련궤계수설비대모형진행험증。이주동비최대전각범위위우화목표，대병련궤계수적허의양궤적주동비비장、종동비비장、위치편치거리진행삼수화설계화우화설계。
In this paper ,a two degree of freedom parallel manipulator was taken as the research object ,the virtual prototype model of the manipulator was set up using ADAMS software ,and the simulation study was conducted .Meanwhile ,the correctness of the model was verified by use of a parallel manipulator device .With the initiative arm maximum range of angle as the optimization objective ,the manipulator’s active arm ,driven arm ,offset position as the design variables ,the optimization design and parametric design of the virtual prototype was carried out .