基于ADAMS变胞机器人构态变换研究

李东福,李强,刘新芹,鲍湘之
(烟台汽车工程职业学院,山东 烟台 265500)

摘要:变胞机构广泛应用于制造业和机器人业。根据变胞机构的运动原理,针对具有三个构态的变胞机器人进行构态变换研究。在UG中建立三维模型,利用ADAMS软件对这三个构态进行构态变换仿真,得到了构态一向构态二和向构态三变换时Y方向位移、速度、加速度、动能曲线。构态一向构态二变换时有柔性冲击,需要控制其变换以减少柔性冲击;构态一向构态三变换时比较平稳。
关键词:变胞原理;变胞机器人;ADAMS;动力学
中图分类号:TP24            文献标识码:A           文章编号:1006-0316 (2012) 12-0018-04

Research on configuration change of metamorphic robot
LI Dong-fu,LI Qiang,LIU Xin-qin,BAO Xiang-zhi
( Yantai Institute of Automotive Engineering Profession, Yantai 265500, China )

Abstract:Metamorphic Mechanism has been widely used in manufacture engineering and robot since it been put forward. This paper is to study a Metamorphic robot who has three configuration. The model is built in UG. using ADAMS software do dynamic simulation. The simulation result of Metamorphic robot is got. The transform of configuration one to Configuration two has flexible impact, so the flexible impact is need controlled. And the transform of configuration one to configuration three is smoothly.
Key words:metamorphic theory;metamorphic robot;adams;dynamics

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收稿日期:2012-05-06
基金项目:山东省高等学校科技计划项目(J10LD68)
作者简介:李东福(1980-),女,硕士研究生,讲师,主要研究方向为机构学、机械动力学。


 

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