【摘要】 基于LMS Virtual.Lab适于机械系统动力学分析但不能直接用于柔性分析,而ANSY S适于有限元分析的情况,本文将2者结合起来,建立了刚柔耦合机器人动力学仿真系统。本系统是通过中性文件结合LMS Virtual.Lab和ANSYS,实现刚柔耦合机器人系统的仿真分析。此系统按功能分成11个模块,对其进行了二次开发,用以进行刚柔耦合机器人系统的仿真分析,省去了复杂的建模及编程工作。本文通过一个平面三臂机器人的实例说明了此系统的有效性。更多还原

【Abstract】 LMS Virtual.Lab is suited for mechanical system dynamics analysing,but not for flexible analysing.ANSYS is suited for finite element analysing.In this paper,we combined LMS Virtual.Lab & ANSYS and established the simulation system for rigid-flexible coupled robots.We realized the simulation system for rigid-flexible coupled robots by a combination of LMS Virtual.Lab & ANSYS using neutral file.The system is divided into eleven parts and programs have been further developed on the platform of LMS Virual.Lab & ANSYS,so the system can be used more expediently.The system can also be used in GUI without further programming.An example of robot is given to demonstrate the effectiveness.更多还原