PowerLab dynamics simulation is to ensure the safe and reliable operation of the motion platform. We have carried out a lot of analysis and calculation on key components, carried out solid modeling, model optimization, finite element analysis, and confirmed the conclusion. According to the dynamic analysis results of PowerLab, the electric cylinder is selected and calculated, and the theoretical maximum thrust of the electric cylinder is obtained. This thrust is used as the basis for the finite element analysis of structural components other than the upper leveling. It should be ensured that the motor power can meet various motion needs, and it is strictly forbidden for the motor to be overloaded for a long time during operation.
Modal analysis
In order to make the six-degree-of-freedom robot have good dynamic performance in work, for the six-freedom parallel robot, the finite element model of the robot is established by finite element software, and the typical poses are selected for modal analysis, and the finite element method is used. And vibration theory, modal analysis of the overall mechanism. The analysis is carried out according to ANSYS and ADAMS two schemes.
ANSYS uses the finite element method to solve the modes. Using the variational principle, the stiffness matrix and mass matrix of each element are formed, the overall stiffness matrix is assembled to form the overall mass and stiffness matrix, the boundary conditions are set, and the vibration equation theory is used to solve; ADAMS is based on the multi-body dynamics method to solve the modal . Solve according to the vibration equations in Euler-Lagrange theory.
Both methods are essentially the same, there must be stiffness and mass matrices. But the method of forming the matrix is different. And the variation law of the natural frequency of the robot under typical poses and
By calculating, analyzing and synthesizing the natural frequencies and mode shapes of the two schemes, the weak links of the overall structure are obtained through analysis, and finally the method to improve the dynamic performance of the motion platform and the improvement scheme of structural design are proposed.
Structural dynamics is the study of the relationship between the dynamic response, structure, load and dynamic response of a structure under dynamic loads. Structural dynamics can generally be divided into the following three major problems:
(1) Knowing the structure of the research object and the load it bears, find the dynamic response.
(2) Knowing the structure and dynamic response of the research object, find the load it bears.
(3) Knowing the load and dynamic response of the research object, find the structure.
