基于虚拟样机技术的移液机械臂的设计与研究

摘要

以黄芩苷的结晶提纯为背景,基于虚拟样机技术,设计了四自由度移液机械臂的机械系统和控制系统.首先,利用SOLIDWORKS实现了移液机械臂的三维建模,将其导入机械系统动力学分析软件ADAMS中进行运动仿真和动力学仿真；其次,利用ADAMS/CONTROL模块实现ADAMS与MATLAB/SIMULINK的数据传递,进行控制系统的仿真；最后,利用有限元分析软件ANSYS对重要零部件进行有限元分析.仿真分析的结果可以优化设计方案、提高设计效率,更表明多软件仿真分析的方法在复杂机电系统的设计中具有重要作用.%Mechanical system and CONTROL system for robot arm were designed based on the virtual prototype technology. It can be used to transfer pipette in crystallization and isolation for Baicalin. First, a three-dimensional model with four freedoms was built in SOLJDWORKS software. Then, the formatted model was imported into ADAMS for kinematic and dynamic simulation. Next, CONTROL system was established in SIMULINK modular and ADAMS/CONTROL was used to pass data between MATLAB and ADAMS. At last, finite element analysis was implemented by using ANSYS software. The simulation results which can help optimize the design and improve the efficiency indicate that co-simulation based on multi-softwares is of great importance for the design of complex electromechanical systems.