CO-SIMULATION PARALLEL MANIPULATOR MOVEMENTS USING ADAMS-MATLAB

Abstract

The article presents the methods and results of the analysis of the movement of a modeling manipulator such as the Hugh-Stewart platform using Adams-Matlab in order to check and develop a possible trajectory of the working body. Application of Matlab Simulink for solving kinematics problems: determining the extension length of rods along a given trajectory of the movement of the working body. A feature of the Simulink application scheme is the export of physical and mechanical parameters of a solid model from Adams. Mutual integration of Matlab Simulink and Adams View evaluate the implementation of the possibility of implementing a kinematic, comprehensive and force analysis of the mechanism, taking into account its design features due to the use of an apparent prototype. The proposed method of joint modeling is presented in the form of a detailed description of the content of Simulink circuit blocks, their interaction in modeling, the exact mathematical apparatus and the conditions for implementing mutual thoroughness of the Matlab and Adams software packages. The technique was tested on the ascent from constructive platforms while moving along a sexual character such as a given trajectory. The results of a computational experiment are proposed and an analysis is made of the coordinate correspondence of the actual trajectory obtained as a result of modeling in joint simulation with the initial given trajectory for various types of motion.