Dynamic Modeling and Optimizing Analysis of Rigid-Flexible Coupling for Bundling Manipulator Based on ADAMS

摘要

Aiming at the new type of binding manipulator, the flexible body model of steel belt is established in ADAMS and SolidWorks, the flexible body model of steel belt is established by screw theory, and then the rigid-flexible coupling dynamic model of the manipulator is established by Lagrange equation method. The mechanical model of the steel belt and the manipulator is superimposed to obtain the overall dynamic model of the binding manipulator, which is finally applied in ADAMS. The model is validated. Then the parameters of the manipulator can be modeled in ADAMS using its design and calculation module, and the optimal design of the new type of steel tube binding manipulator can be completed finally.