基于ADAMS的水下扩展机构动力学仿真

为了分析水下扩展机构在不同驱动条件下的动态响应特性，本文建立了水下扩展机构的运动学模型和动力学模型，并利用ADAMS进行动力学仿真。通过仿真得到了水下扩展机构分别在恒速驱动与恒力驱动下，扩展臂的运动参数动态响应曲线，以及机构组成杆件运动副处的约束力随时间变化曲线。结果表明：在恒速驱动下，机构运动时间较长，到位时角速度较小机构能快速稳定；在恒力驱动下，机构动作较为平稳且运动时间短，但角加速度变化复杂，到位时角速度较大，到位后有震荡运动产生。本文的研究为后续驱动控制系统的设计提供理论基础，具有重要的工程实际价值。

Dynamic simulation of underwater expansion mechanism based on ADAMS

In order to analyze the dynamic response characteristics of underwater expansion mechanism under different driving conditions, a dynamic model of underwater expansion mechanism is established, and dynamic simulation is carried out by using ADAMS. We have simulated respectively in the speed of the driving force driving mechanism and expansion, in the dynamic response curve of single arm of the motion parameters and the mechanism between rod interaction curves changed with time, and provide a theoretical basis for the design of driving control system for underwater expansion mechanism. Under the speed drive, the motion of the mechanism is relatively stable. Under the force driving, the acceleration of the active arm is relatively unstable, but the force driving can guarantee the expansion mechanism to meet the minimum driving force condition.