Rigid-Flexible Coupling Dynamics Simulation of 3-RPS Parallel Robot Based on ADAMS and ANSYS

摘要

This paper mainly investigated the rigid-flexible dynamics simulation method of multi-body system. The 3-RPS parallel robot dynamics model is created by ADAMS (multi-body dynamics software) and ANSYS (finite element analysis software). In accordance with the flexible-body theory, we analyzed mechanical characteristics of parallel robot with no-load or full-load working condition, and got the deformation of end measuring point, maximum stress position and dynamics stress curve. The analysis method is more intuitional and accurate, and can increase the accuracy of dynamic response analysis of links under the dynamic loads. The simulation results create conditions for structure design and optimization of 3-RPS parallel robot.