基于samcef的机械臂柔性机构建模

此项目案例介绍了6轴机器人的建模方法，在samcef平台上通过添加控制机构可以从仿真结果中明确看出控制对机构动态特性的影响。控制器的增益可以通过BOSS Quattro中的最优化方法得到。

案例简要介绍如下：

The development of a virtual prototype in the fully integrated SAMCEFField environment is described on the specific case of a six-axes robot. Severalvirtual prototypes are built around a Master Model, including a library ofinterchangeable components modelled with different accuracies, and arecompared. It is shown how important it is to consider flexibility in the model,especially in such specific lightweight machine tools classically subjected tohigh speeds. This flexibility is approximated either with a full finite elementmodel of the structural components, or with a mode component approach. Theselection of a correct model is discussed. Controllers are included in the flexiblemodel to impose the tip motions. A trajectory planning is investigated.