Three Arm Dynamics Research Of Parallel Robot Based On ADAMS

With the rapid development of space technology, space exploration is more and morefrequent, But the space is a microgravity, anaerobic, strong radiation, large temperaturedifference of space, the environment is extremely bad. espace technology has become a focusin the study of machine, the space robot can ensure the safety of the astronauts largely,significantly reduce maintenance funds spent on space station, and space robotics is also theimportant document of National Space. Domestic research on space robot is still in itsbeginning stage, this paper based on the space robot, in view of three parallel robot arms forthe design and research.According to the needs of space robot in space operations, and with reference to theexperience of the predecessors, the design scheme of16joints, three arm parallel robotsconsists of18motion joint. A geometry model of robot joints in Pro/E, make the assembly.Arm joint finite element technique on three arm parallel robot is studied based on the modalanalysis and static analysis, prove the rationality of the structure design. Study on thecharacteristic parameters of D-H three arm robot, a coordinate transformation matrix. UsingLagrange equation and Kane equation established dynamics model of parallel robot with threearms, inverse dynamics algorithm derived from the dynamic equations of the three armparallel robot. ADAMS software to create a virtual prototype simulation model, edit the drivefunction simulation. Research on the gait of robot in zero gravity and microgravity forclimbing, and solve the friction, the simulation process of the penetration problem. The robotin zero gravity and microgravity two cases climbing force (moment) data curve and speed,and the two to do a comparative analysis.From the simulation results, the structural design ofthe three arm parallel robot is relatively reasonable, can meet the general requirements ofspace robot. The method of combining modeling function of Pro/E with virtual prototype technology of ADAMS is very useful：short time, high efficiency, strong visualization. Thismethod has very high practical value for the dynamic simulation of complex mechanicalsystem analysis.