The Research And Development Of Simulation System Of Flexible Robots

The dynamics of flexible robot manipulators is an advanced topic in the area of machinery dynamics. The dynamics analysis is the key point. The dynamics simulation software tool is very important in the research and the design of products. It takes a lot of time to develop this kind of software by the individual researcher and the software is always not suit for different purpose. It is a good solution to use universal software to implement the simulation of flexible robot manipulators. But there is no efficient software in the field until now.A software is proposed using the knowledge of software engineering in this thesis. The famous FEA software ANSYS and Virtual Prototyping system ADAMS is integrated. Based on this integration the dynamics simulation software of flexible robot manipulators is developed. The automatic transformation of the customized data interface file between ADAMS and ANSYS is accomplished. Automatic configuration of the system is completed. The system have uniform interface and can create automatically Modal Neutral File without too much interfere of users. The software is introduced by an example of a flexible 2R planar manipulator. The validity and advantage of the software is demonstrated through an example of two coordinated flexible manipulators manipulating a rigid load. The software is very useful to the dynamics analysis of the flexible robot manipulators.