基于刚柔混合建模的移动焊接机器人系统仿真

摘要

Taking a mobile welding robot as an example,Pro/E was used to build the whole model of mobile welding robot based on Rigid-Flex Hybrid Modeling theory and method.The assembly model not only was imported into the simulation software ADAMS environment,but the flexible bodies of the robot were established by ADAMS/AutoFlex.Meanwhile,the rigid-flex multi-body dynamical simulation model of the robot＇s operating system was carried out through ADAMS/View.The simulation analysis indicates that this model can accurately reflect the simulating movement and force of the welding robot,it also provides a reliable basis and method for the dynamics research of end manipulator and the development of physical prototype of mobile welding robots.%以某移动焊接机器人为例,在刚柔混合建模理论与方法的基础上,利用Pro/E对移动焊接机器人进行整体造型;不仅将模型导入到仿真软件ADAMS环境,而且利用ADAMS/AutoFlex模块对机器人部分构件建立柔性体,同时通过ADAMS/View构建了机器人的刚柔多体动态仿真模型。仿真分析说明：该模型能够准确的反映焊接机器人的运动和受力情况,其分析也为末端机械手的动力学研究和移动焊接机器人物理样机的开发提供可靠的方法和依据。