Simulation of the structural and force parameters of a robotic platform using co-simulation

摘要

The paper presents the methodology and results of modeling the operation of the parallel mechanism - a 6-DOF robotic platform of the Stewart-Gough type. MSC Adams and Matlab software packages were used as modeling tools, as well as a general-purpose, high-level object-oriented programming language, Python. 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. Mutual integration of Matlab Simulink and Adams View provides the implementation of joint simulation and allows to perform kinematic, dynamic and force analysis of the mechanism, taking into account its design features through the use of a virtual prototype. Simulink provides the ability to import of physical and mechanical parameters of a solid model from 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 platform in accordance with the selected optimality criteria. This is implemented through 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 one of the design versions of the platform when moving along several characteristic types of a given trajectory. The results of a computational experiment are presented and an analysis of the force characteristics during movement along a given trajectory is carried out.