CAJ | 학술논문

以六自由度工业机器人为研究对象,实现工业机器人在复杂运动条件下的动态有限元分析为目标. 将SolidWorks中建立的三维模型和在ADAMS中进行运动分析的结果同时导入Workbench中,快速实现了在Workbench中使工业机器人各关节按照预定规划进行瞬态动力学分析. 这种快速实现复杂运动的有限元分析方法与传统通过计算进行有限元仿真分析相比,该方法不需要计算并且充分的考虑了机械结构和惯性力等因素,这使仿真方法更加简便,结果更加可靠,同时分析的环境更加接近真实的工作要求.
이륙자유도공업궤기인위연구대상,실현공업궤기인재복잡운동조건하적동태유한원분석위목표. 장SolidWorks중건립적삼유모형화재ADAMS중진행운동분석적결과동시도입Workbench중,쾌속실현료재Workbench중사공업궤기인각관절안조예정규화진행순태동역학분석. 저충쾌속실현복잡운동적유한원분석방법여전통통과계산진행유한원방진분석상비,해방법불수요계산병차충분적고필료궤계결구화관성력등인소,저사방진방법경가간편,결과경가가고,동시분석적배경경가접근진실적공작요구.
In order to achieve the goal of finite element analysis for complexmovement, using the six-DOF robot as example. Import 3-D model of SolidWorks and ADAMS kinematic analysis data into Workbench, it is successful to make the joints move as the goal set and finish the transient dynamics analysis. When com-pared this new method with the traditional calculate method, this new one' s method is easier and the results are more reliable, because the mechanical structure ,inertial force and so on are considered in this method, so the simulation environment is more true.