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2007•Journal of Shandong University of TechnologyRequires access

Kinematics and dynamics simulation of the parallel robot based on UG/ADAMS

Sun Lei

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Abstract

3-PRC parallel robot is studied in this paper.The virtual prototype of it is established under the UG software and the digital models are imported into ADAMS.The kinematics and dynamics simulation and analysis of the virtual prototype model is accomplished.This method avoids the modeling and computing of complex kinematics and dynamics formula,simplifies the design and development of mechanical products,therefore,more energy can be used on improving the characteristics and optimizing the structure.Meanwhile,it also provides theoretical foundation for prototype's debugging and control.

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What this paper is about

3-PRC parallel robot is studied in this paper.The virtual prototype of it is established under the UG software and the digital models are imported into ADAMS.The kinematics and dynamics simulation and analysis of the virtual prototype model is accomplished.This method avoids the modeling and computing of complex kinematics and dynamics formula,simplifies the design and development of mechanical products,therefore,more energy can be used on improving the characteristics and optimizing the structure.Meanwhile,it also provides theoretical foundation for prototype's debugging and control.

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Available abstract

3-PRC parallel robot is studied in this paper.The virtual prototype of it is established under the UG software and the digital models are imported into ADAMS.The kinematics and dynamics simulation and analysis of the virtual prototype model is accomplished.This method avoids the modeling and computing of complex kinematics and dynamics formula,simplifies the design and development of mechanical products,therefore,more energy can be used on improving the characteristics and optimizing the structure.Meanwhile,it also provides theoretical foundation for prototype's debugging and control.

Key concepts: Kinematics, Debugging, Computer science, Kinematics equations, Software, Robot kinematics, Parallel manipulator, Inverse kinematics

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