The Study, Based On Virtual Prototyping Technology For Robot Dynamics

This paper has introduced the development of the welding robot and simulation technology of the computer and current situation briefly, and has done the argumentation briefly to the development of dynamics of multi-body system.Then use screw theory build up dynamics equation of manipulator which belong to hydraulic turbine repair robot with six degree of freedom, and carry on theory analysis to the robot. Have offered the theoretical foundation for the thing that the following simulation based on software ADAMS which developed for dynamics analyse of mechanical system.But should set up the prototype of the robot first before simulation , in order to carry on dynamics simulation. This text use three-dimensional parameter software Pro/E come and set up simplify model of the robot, then through the interface between Pro/E and ADAMS software, input the robtics prototype into ADAMS. Then can set up simulation model, build up the simulation condition of work under two kinds of different operating modes in ADAMS.For the true situation that reproduces the robot while working, at first, through dynamics simulation, make the manipulator pass a trajectory with general most significance with the uniform velocity while working. Then get robotic joint every sport orbit of joint of the space. And set up the sport orbit function of every joint of space of joint based on time. Then, divide two kinds of different operating modes and carry on a series of dynamics emulation respectively, ask out the strength and moment received of every joint of robot.And in to after polishing simulation result data analysis of carrying on of model, can prove welding robot not only may use for welding n, and can also do polishing work, dispel people's original doubt. Finally, to influence robot joint torque heavy factor, it is manipulator every pole pieces of mass center that go on sensitiveness analyse, offer the really believable data for the design which optimizes the robot.