Adams空间复杂机械臂动力学仿真研究
关键词 机械臂 动力学 仿真 建模
毕业设计说明书（论文）外文摘要
Title Study on Dynamics Simulation of complicated spatial mechanical arm
Abstract Mechanical arm is widely used in life, transportation, manufacturing and other civil and military field. Mechanical arm has a more complex mechanical structure, and can be engaged in the use of human not completing tasks, such as mining, exploration, transportation etc.With the development of aerospace technology, mechanical arm in space which plays an important role, but also can not be replaced. In recent years the space manipulator dynamics research is not only a scientific issues, it has very important theoretical significance, and to our country to build the space station has important value of Engineering application. Space manipulator dynamics is the need for flexible multi body dynamics simulation, using mechanics theory modeling, equation solving, computer language programming,numerical computation and calculate the dynamic characteristics of mechanical arm in space.
Keywords Mechanical arm Kinetics Simulation Modeling
目 次
1 绪论 1
1.1 工程背景 1
1.2 数学工具和力学理论基础 1
1.3 本课题工作 2
2 复杂机构动力学建模与仿真 4
2.1 系统的动力学描述 4
2.2 复杂机械系统的动力学方程（运动微分方程） 6
3 使用Adams商用软件仿真以及实例 9
3.1 Adams软件简介 9
3.1.1 软件应用 9
3.1.2 Adams软件模块 9
3.2 实例并利用Adams建模 10
3.2.1 刚体模型建模 11
3.2.2 柔性体模型建模 12
3.3 利用Adams模拟模型运动 13
3.3.1 利用Simulation Control进行模拟 13
3.3.2 模型运动形态 13
3.4 运动计算分析 16
3.4.1 杆一各个参数对比 16
3.4.2 杆二各个参数对比 17
3.4.3 杆三各个参数对比 左侧为刚体，右侧为柔性体。(角速度、角加速度沿Z轴) 18
3.4.4 杆四各个参数对比 19
3.5 自编程序结果对比 20
3.5.1 对模型进行简化建模并用Mathematica对方程组化简和检验 21
3.5.2 程序界面 22
3.5.3 利用自编软件和adams仿真并比较 23