【摘要】 并联机器人的结构复杂、制造成本高、生产周期长,因而其物理样机的优化以经验为主。提出基于ADAMS的虚拟样机优化方法,并以3RPS机器人为例,运用虚拟样机模型分析了该机器人结构参数变化对该机器人动平台转动角度的影响,并得到了动平台转动角度最大时的最优结构参数。更多还原

【Abstract】 The cost of development for physical prototypes of parallel robots is high and the production cycle is long for its complex structure.A virtual prototype model of 3RPS is established to analyze how the rotational angle of the robot will be affected when the parameters of the robot vary base on ADAMS.The results show that it is a good method and easy to be used in practice.The optimum parameters are obtained for the workspace indicating that rotational angle is the best one.更多还原