基于lmsvirtual.lab和ansys的柔性機器人仿真系統(tǒng)的研究與開發(fā)

1、分類號：TP24單位代碼學號密級Y891031北京工業(yè)大學碩士學位論文題目基于LMSVirtualLab和ANSYs的柔性機器人仿真系統(tǒng)的研究皇五筮英文并列RESEARCHANDDEvELOPMENTOFFLExIBLEROBOTs題目SIM【『I，ATl0NSYSTEMBAsEDONLMSv1RTuALLAB魚笪旦叁叢SYS：研究生姓名一睦晏～～，—一專業(yè)：扭撼邀讓叢理逢研究方向；扭撼蟄也堂導師姓名：金遂迭職稱：煎攫論文報告提交日期：

2、2啦生』旦學忡攫rI期攢f學位單位名稱和地址；jE裹王業(yè)點堂北瘟血翅凹匡：[巫圄!QQ生————囂噸北京l：業(yè)人學頌十學位論文AbstractIhedyn啪lcottlexlblerobotisanlmportallttopicinthefieldofmachinerydynanlics，a11dthedynamicaIlalysisisthekeypointSimulationsoftwareisagreathelpforneXibl

3、erobotresearchandpracticalappIication，soitisimportanttodevelopmiskindofsoRware，butitwilltakealotoffinallciala11dmanpowertodeVelopthiskindofsoftwareifwedeVelopanewsoRwarecompletelyItisagoodsolutiontouseuniversalsoftwareto

4、implememthesimulationsoa、VareofnexiblerobotThef細ousmultibodyd”amicsimulationsoftware，LMSVirtualLabmotion，itmaybeusedforrigidrobotssimulationbutithasnoflmctionofelasticanalysisTheFEAsoRware，ANSYS，maybeusedt0elasticstnlctu

5、reanalysis，butitcannotbeuseddirectlytodynamicsimulationsothethesisintegrateLMSⅥrt砌LabmotionandANSYStOdevelopanexiblerobOtsimulationsystemthesystemincludefouraspectswhjchareasfollows：First，t圮componentOfrigidrobotcanbemOde

6、ledandassembledautomalicallyThispanisdevelopedint11eLMsVinualLabsoftwarebyVBscriptlaIlguage，aimatmodelingandassemblingautomaticallySecond，nexiblea咖sornexiblejointcallbemodeledandneutralmecanbecreatedautomaticallyThispani

7、sdevelopedinmeANSYSsoft啪rebyUJD】一a11dAPDLlallguage，aimatcrealingflexiblemodela11dneutralfileautomaticallyThird，nexiblerobotcanbecreatedautomaticallythesimulationsystemcancreatenexiblerobotmodelbyneu仃al：fileautom砒icallyFo

8、unh，mesimulationandanalysisofnexiblerobotthispanincludecreatingCraigBamptoncase，讓leSolutionofmode曲esolutionofrobotsystemanddatapostprocessingetcuseronlyinputmodelrank，timeetcthesystemcansolVeautomaeicaIiyThevalidi_七yanda