EVALUATION OF KINEMATIC AND DYNAMIC PARAMETERS OF THE HOUGH-STEUART PLATFORM USING A VIRTUAL PROTOTYPE

Abstract

The article presents a technique for modeling the operation of the parallel structure mechanism - the Hugh-Stewart robotic platform using a virtual prototype. The MSC Adams software package and the high-level general-purpose object-oriented programming language Python were used as modeling tools. The digital layout, which has the properties of a parameterized simulation model, is built in the MSC Adams software package. The Python programming language is used as an alternative to the Adams View internal command language for creating and iteratively modifying modeling objects in Adams. The proposed implementation of the Python-Adams interface in the form of special procedures and functions automates the execution of a computational experiment and allows solving the problem of optimizing structural elements and finding the optimal geometric design of the hexapod in accordance with the selected optimality criteria by conducting a series of experiments consisting in sequential multiple changes in geometric parameters, followed by simulation model and analysis of the results in order to find design options that meet the specified criteria. The technique was tested on the example of optimizing the diameter of the platform according to the criterion of minimizing the effort expended when moving along a given trajectory. The results of a computational experiment are also presented to determine the dynamic parameters (forces, moments of forces) in the structural elements when the platform moves along a complex trajectory, to identify undesirable positions in which peak loads occur.