以六自由度并联机器人为研究对象,在ADAMS软件中建立其完整虚拟样机模型,利用这一模型进行运动学和动力学分析.在考虑铰链柔性的前提下,建立机器人的刚柔耦合动力学模型,分析运行速度和载荷变化对机器人末端定位精度的影响.所做研究可为并联机器人的设计提供理论依据和参考.%By taking a 6-DOF parallel robot as the research object,a complete virtual prototype model was established in ADAMS software,and this model was used to perform kinematic and dynamic analysis.On the premise of considering the hinge flexibility,a rigid-flexible coupling dynamic model of the robot was established to analyze the impact of the running speed and load fluctuation to the positioning accuracy at the endpoint of the robot.The research done can provide theoretical basis and reference for the design of parallel robots.
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