Analysis of the Hexapod Work Space using integration of a CAD/CAE system and the LabVIEW software

Modern Technologies in Industrial Engineering 2015

Herbus, K.^1 ; Ociepka, P.^1

Silesian University of Technology, Faculty of Mechanical Engineering, Institute of Engineering Processes Automation and Integrated Manufacturing Systems, Konarskiego 18A, Gliwice

44-100, Poland^1

关键词: Ball and sockets;    Driving simulator;    Lab-view softwares;    Motion simulations;    Movement Simulation;    Revolute joints;    Specific values;    Spherical joint;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/95/1/012096/pdf
DOI  :  10.1088/1757-899X/95/1/012096

来源: IOP

【 摘 要 】

The paper presents the problems related to the integration of a CAD/CAE system with the LabVIEW software. The purpose of the integration is to determine the workspace of a hexapod model basing on a mathematical model describing it motion. In the first stage of the work concerning the integration task the 3D model to simulate movements of a hexapod was elaborated. This phase of the work was done in the "Motion Simulation" module of the CAD/CAE/CAM Siemens NX system. The first step was to define the components of the 3D model in the form of "links". Individual links were defined according to the nature of the hexapod elements action. In the model prepared for movement simulation were created links corresponding to such elements as: electric actuator, top plate, bottom plate, ball-and-socket joint, toggle joint Phillips. Then were defined the constraints of the "joint" type (e.g.: revolute joint, slider joint, spherical joint) between the created component of the "link" type, so that the computer simulation corresponds to the operation of a real hexapod. The next stage of work included implementing the mathematical model describing the functioning of a hexapod in the LabVIEW software. At this stage, particular attention was paid to determining procedures for integrating the virtual 3D hexapod model with the results of calculations performed in the LabVIEW. The results relate to specific values of the jump of electric actuators depending on the position of the car on the hexapod. The use of integration made it possible to determine the safe operating space of a stationary hexapod taking into consideration the security of a person in the driving simulator designed for the disabled..