Chapter 19
Electro-Mechanical Co-Simulation
of a 6-DOF Parallel Robot
Fengchao Liang, Shuang Tan, Long Chen, and Zhe Lin
Abstract Parallel robot has the advantages of high precision, high stiffness, fast
speed and strong bearing capacity. When applied in 3D printing, it can avoid the
defects caused by the vertical direction layer by layer accumulation additive manufacturing mode, and the 3D printing equipment with 6-DOF parallel robot can print 3D
entities with complex shape and smooth surface without support. In order to increase
the design efficiency and verify the correctness of the mechanical and control system
of a 6-DOF parallel robot used in a 3D printer, an electro-mechanical co-simulation
method of the parallel robot was realized based on the electro-mechanical model
created using interface technology between ADAMS and MATLAB. First, kinematics mathematical model was built based on theory of inverse kinematics of parallel
robots. Then, simulation of kinematics was performed after the virtual prototype of
the 6-DOF robot was created in ADAMS, and the simulation results were consistent
with the theoretical calculation. Then, the model of electro-mechanical system of the
6-DOF parallel robot was established by embedding the ADAMS virtual prototype
into the control model of MATLAB. Finally, step and sinusoidal function responses
of the 6-DOF parallel robot pose were studied respectively. The simulation results
show that the 6-DOF parallel robot has a high steady accuracy and good dynamic
performance, and the simulation parameters provide the necessary design basis for
the development of the 6-DOF parallel robot.
Keywords Parallel robot · ADAMS · Kinematics · Dynamics · 3D printing ·
Virtual prototyping
19.1 Introduction
3D printing technology, also known as additive manufacturing technology, is
completely different from the traditional material removal processing technology. It
generates 3D entities by adding materials layer by layer. Many scholars have studied
F. Liang (B) · S. Tan · L. Chen · Z. Lin
Beijing Institute of Space Mechanics and Electricity, Beijing 100094, China
e-mail: fc.liang@qq.com
© The Author(s), under exclusive license to Springer Nature Switzerland AG 2021
J. Xu and K. M. Pandey (eds.), Mechanical Engineering and Materials,
Mechanisms and Machine Science 100,
https://doi.org/10.1007/978-3-030-68303-0_19
241
Electro-Mechanical Co-Simulation
of a 6-DOF Parallel Robot
Fengchao Liang, Shuang Tan, Long Chen, and Zhe Lin
Abstract Parallel robot has the advantages of high precision, high stiffness, fast
speed and strong bearing capacity. When applied in 3D printing, it can avoid the
defects caused by the vertical direction layer by layer accumulation additive manufacturing mode, and the 3D printing equipment with 6-DOF parallel robot can print 3D
entities with complex shape and smooth surface without support. In order to increase
the design efficiency and verify the correctness of the mechanical and control system
of a 6-DOF parallel robot used in a 3D printer, an electro-mechanical co-simulation
method of the parallel robot was realized based on the electro-mechanical model
created using interface technology between ADAMS and MATLAB. First, kinematics mathematical model was built based on theory of inverse kinematics of parallel
robots. Then, simulation of kinematics was performed after the virtual prototype of
the 6-DOF robot was created in ADAMS, and the simulation results were consistent
with the theoretical calculation. Then, the model of electro-mechanical system of the
6-DOF parallel robot was established by embedding the ADAMS virtual prototype
into the control model of MATLAB. Finally, step and sinusoidal function responses
of the 6-DOF parallel robot pose were studied respectively. The simulation results
show that the 6-DOF parallel robot has a high steady accuracy and good dynamic
performance, and the simulation parameters provide the necessary design basis for
the development of the 6-DOF parallel robot.
Keywords Parallel robot · ADAMS · Kinematics · Dynamics · 3D printing ·
Virtual prototyping
19.1 Introduction
3D printing technology, also known as additive manufacturing technology, is
completely different from the traditional material removal processing technology. It
generates 3D entities by adding materials layer by layer. Many scholars have studied
F. Liang (B) · S. Tan · L. Chen · Z. Lin
Beijing Institute of Space Mechanics and Electricity, Beijing 100094, China
e-mail: fc.liang@qq.com
© The Author(s), under exclusive license to Springer Nature Switzerland AG 2021
J. Xu and K. M. Pandey (eds.), Mechanical Engineering and Materials,
Mechanisms and Machine Science 100,
https://doi.org/10.1007/978-3-030-68303-0_19
241