CN109190266B - Multi-rigid-body dynamics simplified modeling method based on ADAMS software - Google Patents
Multi-rigid-body dynamics simplified modeling method based on ADAMS software Download PDFInfo
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Abstract
The invention discloses a multi-rigid-body dynamics simplified modeling method based on ADAMS software, which comprises the steps of firstly, replacing a rigid body with a complex shape with a homogeneous geometric body with a simple shape to establish a dynamics model; secondly, simulating a kinematic pair between the two rigid bodies; thirdly, simulating the load; fourthly, carrying out simulation test and observing a calculation result after the simulation is finished; the ADAMS software-based multi-rigid-body dynamics simplified modeling method is completed on the basis of the completed three-dimensional design model, and by adopting the modeling method, the kinematics and dynamics simulation result which is the same as that of the original model can be realized by the simplified model, and the modeling efficiency and the calculation efficiency are high.
Description
Technical Field
The invention relates to a multi-rigid-body dynamics simplified modeling method based on ADAMS software, and belongs to the technical field of computer-aided design methods.
Background
ADAMS is a widely used virtual prototype software used for kinematics and dynamics analysis of a mechanical system, but when a modeling tool provided by the software is used for building a virtual prototype model, the modeling efficiency is far inferior to specialized three-dimensional entity modeling software such as Solidworks and Creo, so that when ADAMS is used for kinematics and dynamics simulation of a complex mechanical system at present, a three-dimensional design model is built in software such as Solidworks and Creo and then is introduced into ADAMS software, but the design models of Solidworks and Creo include various parts and are large in quantity, even if a rigid body often includes dozens of or even hundreds of parts, for three-dimensional design models with similar complex structures, various problems can occur in the process of introducing software such as Solidworks and Creo into ADAMS, typical inaccurate problems are reflected in long time, large memory occupation, and computer seizure and even dead halt phenomena occur, even if the model is successfully introduced, because the model structure includes all geometric information of parts, the problems of the model and the operation direction of ADAMS are set accurately, and the problems occur even if the model is established, the sub-structure simulation model is not accurate.
According to the general rigid motion dynamics theory, the rigid motion and dynamics conditions of a mechanical system are determined by the mass, the position of a mass center, the direction of a main shaft of central inertia, the central main moment of inertia and a received load of a rigid body, and are not related to the shape of the rigid body, so that how to establish a simple rigid motion and dynamics virtual prototype model through ADAMS software to analyze the motion and dynamics problems of the mechanical system with a complex structure is one of the key technical problems of simplifying and modeling of the ADAMS software.
Disclosure of Invention
In order to solve the problems, the invention provides an ADAMS software-based multi-rigid-body dynamics simplified modeling method, which can ensure that the simplified model realizes the same kinematics and dynamics simulation result as the original model, and has high modeling efficiency and calculation efficiency.
The invention discloses a simplified modeling method of multi-rigid-body dynamics based on ADAMS software, which comprises the following steps:
the method comprises the following steps that firstly, a dynamic model is built by replacing a rigid body with a complex shape with a homogeneous geometric body with a simple shape, for the rigid body with the complex shape, the homogeneous geometric body with the simple shape is used for replacing the rigid body with the complex shape during modeling, and the density and the geometric size of the homogeneous geometric body with the simple shape meet the condition that the mass and the central main moment of inertia of the homogeneous geometric body with the simple shape are the same as those of the replaced rigid body with the complex shape;
secondly, simulating a kinematic pair between two rigid bodies, namely establishing a MARAKER point (Add to part) on one of the simple-shape homogeneous geometric bodies, wherein the relative position of the central inertia main shaft connected base of the simple-shape homogeneous geometric body is the same as that of an actual kinematic pair on the central inertia main shaft connected base of the complex-shape rigid body, and when establishing the kinematic pair, the position of the MarAKER point is positioned, and the type of the kinematic pair, the type of the constrained motion and the situation of the constrained motion between the two complex-shape rigid bodies replaced by the constrained motion are the same;
thirdly, simulating the load, namely establishing a MARAKER point (Add to part) on the homogeneous geometric body with the simple shape, wherein the relative position of the central inertia main shaft connecting base of the homogeneous geometric body with the simple shape is the same as the relative position of the actual load on the rigid body central inertia main shaft connecting base with the complex shape, and the load acts on the MARAKER point when the load is applied;
and fourthly, carrying out simulation test and observing the calculation results after the simulation is finished, particularly the tracks, the speeds and the accelerations of certain points, and establishing a plurality of MARAKER points (Add to part) on the homogeneous geometric body with the simple shape, wherein the relative positions of the MARAKER points on the central inertia main shaft connection base of the homogeneous geometric body with the simple shape are the same as the positions of the certain points of the rigid body with the complex shape to be observed relative to the central inertia main shaft connection base of the rigid body with the complex shape.
Further, in the first step, when the dynamic model is created by replacing the complex-shaped rigid body with the simple-shaped homogeneous geometric body, the position of the centroid of the simple-shaped homogeneous geometric body is the same as the position of the centroid of the complex-shaped rigid body to be replaced, and the direction of the central inertia main shaft connected basis of the simple-shaped homogeneous geometric body is the same as the direction of the central inertia main shaft connected basis of the complex-shaped rigid body to be replaced.
Further, the rigid body with the complex shape is a three-dimensional design model established by three-dimensional modeling software, and the mass, the central main moment of inertia, the position of the center of mass and the direction of the central inertia main shaft connected base are directly obtained through the three-dimensional modeling software.
Further, the homogeneous geometric body with a simple shape is a cuboid, a cylinder, a torus, a cone, a truncated cone, a solid, a hollow sphere or a combination of various simple shapes.
As a preferred embodiment, the simple-shaped homogeneous geometry is established in ADAMS software.
In a preferred embodiment, the homogeneous geometric body with a simple shape is first created in three-dimensional modeling software, and then the model is introduced into ADAMS software.
Further, the relative position of the actual kinematic pair in the complex-shaped rigid body center inertia main shaft connected base in the second step is measured by three-dimensional modeling software.
And further, measuring the relative position of the actual load in the third step on the complex-shaped rigid body central inertia main shaft connected base through three-dimensional modeling software.
Further, the positions of some points in the fourth step relative to the central inertia main shaft connected base of the rigid body with the complex shape are measured by three-dimensional modeling software.
Still further, the three-dimensional modeling software is Solidworks or Creo.
Compared with the prior art, the multi-rigid-body dynamics simplified modeling method based on ADAMS software is capable of guaranteeing that the simplified model realizes the kinematics and dynamics simulation result which is the same as that of the original model by adopting the modeling method on the basis of completing a three-dimensional design model by utilizing Solidworks or Creo, and is high in modeling efficiency and calculation efficiency.
Drawings
FIG. 1 is a schematic diagram of a modeling flow of the present invention.
Fig. 2 is a density, length, width, and height parameter solving equation of a rectangular parallelepiped of the present invention in which central principal inertias lxx, lyy, and lzz are different from each other.
Fig. 3 is a density, radius, high parameter solution equation for a cylinder of the present invention with a central principal moment of inertia lxx = lyy as an example.
Fig. 4 is a density and side length parameter solution equation of a regular hexahedron with a central principal moment of inertia lxx = lyy = lzz according to the present invention.
Detailed Description
The invention discloses a simplified modeling method of multi-rigid-body dynamics based on ADAMS software, which comprises the following steps:
the method comprises the following steps that firstly, a dynamic model is built by replacing a rigid body with a complex shape with a homogeneous geometric body with a simple shape, and for the rigid body with the complex shape, the homogeneous geometric body with the simple shape is used for replacing the rigid body with the complex shape during modeling, such as a cuboid, a cylinder, a ring body, a cone, a truncated cone, a solid or hollow sphere or a combination of various simple shapes, and the density and the geometric dimension of the homogeneous geometric body with the simple shape meet the requirements that the mass and the central main moment of inertia of the homogeneous geometric body are the same as those of the rigid body with the complex shape and the central main moment of inertia; the homogeneous geometric body with a simple shape can be established in ADAMS software, or can be established in three-dimensional modeling software firstly, and then the model is led into the ADAMS software;
secondly, simulating a kinematic pair between two rigid bodies, namely establishing a MARAKER point (Add to part) on one of the homogeneous geometric bodies with simple shapes, wherein the relative position of the central inertia main shaft connected bases of the homogeneous geometric bodies with simple shapes is the same as that of the actual kinematic pair on the central inertia main shaft connected bases of the rigid bodies with complex shapes, and when establishing the kinematic pair, the position of the kinematic pair is positioned at the MARAKER point, and the type of the kinematic pair, the type of the constrained motion and the type and the constrained motion condition of the kinematic pair between the two rigid bodies with complex shapes replaced by the constrained motion are the same; the rigid body with a complex shape is a three-dimensional design model established by three-dimensional modeling software, and the relative position of the actual kinematic pair on the connecting base of the central inertia main shaft of the rigid body with the complex shape is measured by the three-dimensional modeling software and obtained by simple calculation;
thirdly, load simulation, namely establishing a MARAKER point (Add to part) on the homogeneous geometric body with a simple shape, wherein the relative position of the central inertia main shaft connected base of the homogeneous geometric body with the simple shape is the same as the relative position of the actual load on the central inertia main shaft connected base of the rigid body with a complex shape, and when the load is applied, the load acts on the MARAKER point; the rigid body with the complex shape is a three-dimensional design model established by three-dimensional modeling software, and the relative position of the actual load on the connecting base of the central inertia main shaft of the rigid body with the complex shape is measured by the three-dimensional modeling software and obtained by simple calculation;
fourthly, simulation testing and observation of the calculation results after simulation, particularly the tracks, the speeds and the accelerations of certain points are carried out, a plurality of MARAKER points (Add to part) are established on the homogeneous geometric body with the simple shape, and the relative positions of the MARAKER points on the central inertia main shaft connected base of the homogeneous geometric body with the simple shape are the same as the positions of certain points of the rigid body with the complex shape to be observed relative to the central inertia main shaft connected base of the rigid body with the complex shape; the rigid body with the complex shape is a three-dimensional design model established by three-dimensional modeling software, and the positions of some points relative to the central inertia main shaft conjoined base of the rigid body with the complex shape are measured by the three-dimensional modeling software and obtained by simple calculation.
In the first step, when the homogeneous geometric body with a simple shape is used for replacing a rigid body with a complex shape to establish a dynamic model, the position of the mass center of the homogeneous geometric body with the simple shape is the same as the position of the mass center of the rigid body with the complex shape, the direction of the central inertia main shaft connected base of the homogeneous geometric body with the simple shape is the same as the direction of the central inertia main shaft connected base of the rigid body with the complex shape, the rigid body with the complex shape is a three-dimensional design model established by three-dimensional modeling software, and the position of the mass center and the direction of the central inertia main shaft connected base are directly obtained by the three-dimensional modeling software. The three-dimensional modeling software is Solidworks or Creo.
Example 1:
the invention discloses an ADAMS software-based multi-rigid-body dynamics simplified modeling method, which comprises the following steps of: for a complex mechanical system model completed by three-dimensional design software such as Solidworks, creo and the like, when ADAMS software is applied to establish a virtual prototype model for a designed complex mechanical system to perform rigid body kinematics and dynamics analysis, homogeneous geometric bodies with simple shapes, such as cuboids, cylinders, torus, cones, truncated cones, solid or hollow spheres and the like or various simple-shaped combinations, are adopted in the ADAMS software to replace the complex-shaped rigid bodies completed by the three-dimensional design software such as Solidworks, creo and the like, and the density and the geometric size of the homogeneous geometric bodies with simple shapes meet the requirement that the mass, the central main moment of inertia are the same as the mass and the central main moment of inertia of the replaced complex-shaped rigid bodies;
when the mass of the rigid body with a complex shape is m, the central main moment of inertia is lxx, lyy and lzz, and the lxx, lyy and lzz are different, the homogeneous geometric body which replaces the rigid body with the complex shape and has a simple shape can be a cuboid, a truncated cone and the like, and the geometric body at least needs 3 geometric parameters to uniquely determine the geometric shape; taking a cuboid as an example, the density rho, the length a, the width b and the height c of the cuboid are obtained by solving an equation shown in fig. 2, wherein the mass of a rigid body with a complex shape obtained by three-dimensional design software such as Solidworks and Creo is m, and the central main moment of inertia is lxx, lyy and lzz;
if other homogeneous geometric bodies with simple shapes which need 4 or more than 4 geometric parameters to uniquely determine the geometric dimension of the homogeneous geometric bodies are adopted, certain geometric parameters need to be determined in advance, only 3 geometric parameters to be determined are reserved, taking a symmetrical rectangular hollow box as an example, the geometric parameters comprise 6 geometric parameters including the length a, the width b and the height c of the outer side of the box, the length a ', the width b ' and the height c ' of the inner side of the box, and in order to determine four parameters (density rho and three geometric parameters) by using the equation, 3 of the geometric parameters are set as specific values;
when the mass of the rigid body with a complex shape is m and the central main moment of inertia lxx = lyy, the homogeneous geometric body with a simple shape can be a cylinder, a torus, a cone, a regular quadrangular prism and the like, and the geometric body needs at least 2 geometric parameters to uniquely determine the geometric shape of the rigid body, and can realize lxx = lyy, for example, a cylinder, and the density ρ, the radius r and the height h of the rigid body can be obtained by the equations shown in fig. 3;
if other homogeneous geometric bodies with simple shapes are adopted, which only need 3 or more than 3 geometric parameters to uniquely determine the geometric size, some geometric parameters need to be determined in advance, only 2 undetermined geometric parameters are reserved, and lxx = lyy can be ensured, taking a hollow cylinder as an example, the geometric parameters are an inner diameter R, an outer diameter R and a height l, and in order to only reserve two geometric parameters, the inner diameter R or the outer diameter R can be set as a determined value;
when the mass of the rigid body with a complex shape is m, and the central main moment of inertia lxx = lyy = lzz, the homogeneous geometric body with a simple shape can be in the shape of a regular hexahedron, a round sphere and the like, and the geometric shape of the homogeneous geometric body can be uniquely determined only by at least 1 geometric parameter, and lxx = lyy = lzz can be realized, and the density ρ and the side length a of the homogeneous geometric body can be obtained by the equation shown in fig. 4 by taking the regular hexahedron as an example;
if other homogeneous geometric bodies with simple shapes are adopted, which only need 2 or more than 2 geometric parameters to uniquely determine the geometric dimensions, some geometric parameters need to be determined in advance, only 1 geometric parameter to be determined is reserved, and lxx = lyy = lzz can be ensured, taking a hollow sphere as an example, the geometric parameters are an inner diameter R and an outer diameter R, and the inner diameter R or the outer diameter R can be set to be a determined value in order to only reserve 1 geometric parameter;
when a rigid body dynamics model is established, the position of the center of mass of the homogeneous geometric body with a simple shape is the same as the position of the center of mass of the rigid body with a complex shape to be replaced, and the direction of the central inertia main shaft connected base of the homogeneous geometric body with a simple shape is the same as the direction of the central inertia main shaft connected base of the rigid body with a complex shape to be replaced, wherein the position of the center of mass of the rigid body with a complex shape and the direction of the central inertia main shaft connected base can be directly obtained through three-dimensional modeling software (Solidworks, creo and the like);
in order to simulate a kinematic pair between two rigid bodies, firstly, establishing a MARAKER point (Add to part) on one of the homogeneous geometric bodies with simple shapes, wherein the relative position of the central inertia main shaft connected base of the homogeneous geometric body with simple shapes is the same as the relative position of an actual kinematic pair on the central inertia main shaft connected base of the rigid body with complex shapes, when the kinematic pair is established, the position of the MARAKER point is positioned, the type of the kinematic pair and the type and the constrained motion condition of the kinematic pair between the constrained motion and the two rigid bodies with complex shapes replaced by the constrained motion are the same, and the relative position of the actual kinematic pair on the central inertia main shaft connected base of the rigid body with complex shapes can be obtained after measurement through three-dimensional modeling software (Solidworks, creo and the like);
in order to simulate the load, establishing a MARAKER point (Add to part) on the homogeneous geometric body with a simple shape, wherein the relative position of the central inertia main shaft connected base of the homogeneous geometric body with a simple shape is the same as the relative position of the actual load on the rigid body central inertia main shaft connected base with a complex shape, when the load is applied, the load acts on the MARAKER point, and the relative position of the actual load on the rigid body central inertia main shaft connected base with a complex shape can be obtained after the measurement by three-dimensional modeling software (Solidworks, creo and the like);
in order to simulate the test and observe the calculation results after the simulation is completed, especially the track, the speed and the acceleration of some points, a plurality of MARAKER points (Add to part) are established on the homogeneous geometric body with a simple shape, the relative positions of the MARAKER points on the central inertia main shaft connected base of the homogeneous geometric body with a simple shape are the same as the positions of some points of the rigid body with a complex shape to be observed relative to the central inertia main shaft connected base of the rigid body with a complex shape, and the positions of the points relative to the central inertia main shaft connected base of the rigid body with a complex shape can be obtained after the measurement of three-dimensional modeling software (Solidworks, creo and the like).
The homogeneous geometric body with a simple shape can be directly established in ADAMS software, or can be established in three-dimensional modeling software such as Solidworks and Creo, and then the model is introduced into the ADAMS software.
The above-described embodiments are merely preferred embodiments of the present invention, and all equivalent changes or modifications of the structures, characteristics and principles described in the claims of the present invention are included in the scope of the present invention.
Claims (9)
1. A multi-rigid-body dynamics simplified modeling method based on ADAMS software is characterized in that: the method comprises the following steps:
the method comprises the following steps that firstly, a dynamic model is built by replacing a rigid body with a complex shape with a homogeneous geometric body with a simple shape, for the rigid body with the complex shape, the homogeneous geometric body with the simple shape is used for replacing the rigid body with the complex shape during modeling, and the density and the geometric size of the homogeneous geometric body with the simple shape meet the condition that the mass and the central main moment of inertia of the homogeneous geometric body with the simple shape are the same as those of the replaced rigid body with the complex shape; when the dynamic model is built by replacing the rigid body with the simple shape with the homogeneous geometric body with the simple shape, the position of the mass center of the homogeneous geometric body with the simple shape is the same as that of the rigid body with the complex shape, and the direction of the central inertia main shaft connected base of the homogeneous geometric body with the simple shape is the same as that of the central inertia main shaft connected base of the rigid body with the complex shape;
secondly, simulating a kinematic pair between two rigid bodies, establishing a MARAKER point on one of the simple-shape homogeneous geometric bodies, wherein the relative position of the central inertia main shaft connected base of the simple-shape homogeneous geometric body is the same as the relative position of the actual kinematic pair on the complex-shape rigid body central inertia main shaft connected base, and when establishing the kinematic pair, the position of the MARAKER point is positioned, and the type and the constrained motion of the kinematic pair are the same as the type and the constrained motion condition of the kinematic pair between the two complex-shape rigid bodies replaced by the kinematic pair;
thirdly, simulating the load, namely establishing a MARAKER point on the homogeneous geometric body with the simple shape, wherein the relative position of the central inertia main shaft connected base of the homogeneous geometric body with the simple shape is the same as the relative position of the actual load on the central inertia main shaft connected base of the rigid body with the complex shape, and the load acts on the MARAKER point when the load is applied;
and fourthly, performing simulation test and observing a calculation result after simulation is completed, and establishing a plurality of MARAKER points on the homogeneous geometric body with the simple shape, wherein the relative positions of the MARAKER points on the central inertia main shaft connected base of the homogeneous geometric body with the simple shape are the same as the positions of some points of the rigid body with the complex shape to be observed relative to the central inertia main shaft connected base of the rigid body with the complex shape.
2. An ADAMS software based multi-rigid-body dynamics simplified modeling method according to claim 1, characterized in that: the rigid body with the complex shape is a three-dimensional design model established by three-dimensional modeling software, and the mass, the central main moment of inertia, the position of the mass center and the direction of the central inertia main shaft connected base are directly obtained by the three-dimensional modeling software.
3. The ADAMS software-based multi-rigid-body simplified modeling method according to claim 1, characterized in that: the homogeneous geometric body with simple shape is a cuboid, a cylinder, a circular ring body, a cone, a truncated cone, a solid, a hollow sphere or a combination of various simple shapes.
4. An ADAMS software based multi-rigid-body dynamics simplified modeling method according to claim 1, characterized in that: the simple-shaped homogeneous geometries are built in ADAMS software.
5. The ADAMS software-based multi-rigid-body simplified modeling method according to claim 1, characterized in that: the homogeneous geometric body with the simple shape is firstly established in three-dimensional modeling software, and then the model is introduced into ADAMS software.
6. The ADAMS software-based multi-rigid-body simplified modeling method according to claim 1, characterized in that: and the relative position of the actual kinematic pair in the complex-shaped rigid body center inertia main shaft connected base in the second step is measured by three-dimensional modeling software.
7. An ADAMS software based multi-rigid-body dynamics simplified modeling method according to claim 1, characterized in that: and measuring the relative position of the actual load in the third step on the rigid body central inertia main shaft connected base with the complex shape by using three-dimensional modeling software.
8. An ADAMS software based multi-rigid-body dynamics simplified modeling method according to claim 1, characterized in that: and measuring the positions of some points in the fourth step relative to the central inertia main shaft connected base of the rigid body with a complex shape by using three-dimensional modeling software.
9. An ADAMS software based multi-rigid body dynamics simplified modeling method according to any one of claims 6 to 8, characterized in that: the three-dimensional modeling software is Solidworks or Creo.
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