A Study on the Rigidity and Flexibility Coupled Dynamic Analysis Method of the PUMA560 Robot

Abstract

Created in ADAMS/View virtual environment, it combines the complementary advantages of the ADAMS secondary development programming technology APDL and VC++6.0 to build a rigidity and flexibility coupled parameterized dynamic simulation model of the PUMA560 robot, while through the self defining function of constraints and loads, it realizes the model drive loading . After multiple dynamic simulations, normal solutions and inverse solutions of the PUMA560 robot are obtained, and this can provide a foundation for the research on the operability and space locus of the PUMA560 robot. Meanwhile, this new method is also true for other similar kind of rigidity and flexibility coupled mechanics dynamic simulation and a reliable pathway for the analysis of mechanic random errors effect on its motion as well. The excellent feature of this new method is that it will considerate sufficiently the effects of key part’s elastic deformation on the entire mechanic motion, while it needs not to create complex analogue to solve the mechanic, rapidly, conveniently and with high accuracy, which has good theoretical meaning and application value.