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研究工业机器人虚拟样机系统的构成和原理
进行机器人虚拟样机的研究开发，将虚拟样机技术应用于机器人仿真研究领域。一方面拓展虚拟样机技术的研究与应用范围，同时在虚拟环境下对机器人产品的设计与分析也是今后数字化设计、制造的发展方向。机器人仿真研究中通过应用虚拟样机技术，可使设计人员从繁重的计算过程中解脱出来，将精力投人到虚拟样机系统的分析与优化过程，有效地进行系统评估，实际生产之前提供优化的设计产品。
该技术在计算机上通过CA D/CA M/CA E等技术将产品信息集成到计算机提供的可视化虚拟环境，虚拟样机(VimudPrototyp简称VP当前设计制造领域的一门新兴技术。实际产品制造之前实现产品的仿真、分析与优化过程。机器人仿真是机器人研究中的重要环节，可应用于机器人运动学、动力学分析，轨迹和路径规划，机器人与工作环境的相互作用，离线编程等方面。随着目前虚拟制造及数字化制造等先进制造技术的发展，机器人仿真也成为围绕产品生命周期的整个数字化设计、验证及制造环境的重要组成局部。研究与开发机器人虚拟样机系统，可以在虚拟环境中完成以上方面的研究工作，为机器人研究及先进制造技术的发展提供新的手段。
研究与开发工业机器人虚拟样机系统。首先说明虚拟样机技术并分析其关键技术，将虚拟样机技术应用于工业机器人仿真研究过程。然后说明了工业机器人虚拟样机系统的构成与样机系统在机器人仿真研究中的研究内容。总结该项技术主要解决以下两方面的问题，即机器人仿真研究中的系统集成及为以机器人为主体的生产线虚拟设计、验证环境提供底层的数字化环境。
2虚拟样机技术
基于先进的建模技术、多领域仿真技术、信息管理技术、交互式用户界面技术和虚拟现实技术的综合应用技术。1P技术在设计的初级阶段—概念设计阶段就可以对整个系统进行完整的分析，虚拟样机技术涉及多体系统运动学与动力学建模理论及其技术实现。观察并实验各组成部分的相互运动情况。通过系统仿真软件在相应虚拟环境中真实地模拟系统的运动，计算机上可方便地修改设计缺陷，仿真不同的设计方案，对系统进行不时的改进，直至获得最优的设计方案以后，再做出物理样机。
即在设计时期可确定关键参数，虚拟样机的设计方法体现出并行工程的概念和思想。今后先进制造技术的发展方向。与激进方法相比具有诸多优势。更新产品开发过程，缩短开发周期、降低利息和提高产品质量。虚拟样机的关键技术包括以下方面：
1系统集成性
虚拟样机执行环境需要在不同的系统间进行转换，虚拟样机解决方案涉及到多方面的技术。其集成性包括以下方面：
CA D环境中建立机械系统三维模型并进行简单的运动性能分析;
并导入虚拟样机分析系统，由几何模型转换为CA D系统中的几何模型。进行运动学与动力学分析;
并将后者的分析结果回传给虚拟样机虚拟样机中的载荷传送给有限元分析软件。;
生产线模型及其控制系统的规范与虚拟样机的集成。
2系统参数化
可在多仿真参数前提下对虚拟样机系统进行反复测试，建立参数化的虚拟样机系统。对多种条件下的仿真输出结果进行分析比拟，为系统进一步优化奠定基础。
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ALLEN BRADLEY 1756-L63 -FS-
FUJI MICREX-F FPU150S-A10 NEW IN BOX! FAST SHIPPING!
BALDOR SD26BA05-PO AC SERVO DRIVE *NEW IN BOX*
ALLEN BRADLEY 2711-KC1 PANEL VIEW TERMINAL *NEW IN BOX*
RELIANCE ELECTRO-CRAFT BRU-200 DM-30 9101-1303 SERVO DRIVE *NEW NO BOX*
BAILY AND PORTER 50SM13A1BXD10ACEC2101 SIGNAL CONVERTER *NEW NO BOX*
ALLEN BRADLEY 1326AB-B720E-21 SER. C AC SERVO MOTOR (REMANUFACTURED)*NEW IN BOX*
ALLEN BRADLEY DRIVE 20DD3P4A3EYNANCNL SER. A *NEW NO BOX*
ALLEN BRADLEY 2711P-K12C4D1 SER.G PANEL VIEW PLUS MODULE *NEW NO BOX*
ABB BAILEY BRC300 SPBRC300 NEW IN BOX
SIEMENS SINAMICS 6SL3130-7TE25-5AA3 MODULE DATE: 09/2012 *FACTORY SEALED*
FACTORY SEAL ALLEN-BRADLEY 2711P-K15C4B2 2711PK15C4B2 SER A
FANUC A06B-6089-H106 SERVO AMPLIFIER UNIT *NEW NO BOX*
ALLEN BRADLEY 20AD034C3AYYADNN AC DRIVE SER.A FIRMWARE 2.009 *NEW IN BOX*
New GE CONTACTOR 246B2323AAG05 / 246B2323AA G05 900A AMP 32VDC 22D75G15A
GE FANUC IC693CPU364 (Surplus New In factory packaging)
Garmat USA Accele-Cure Spray Paint Booth Controller 120V, 1PH, 60Hz,1/4 HP
CTC PARKER AUTOMATION P31-3R3-B1-2A3 P31 NEW WARRANTY
NEW FANUC A02B-0309-B520 ( A02B0309B520 ) One year warranty
1 PC New Fanuc A02B-0309-B520
NEW! Honeywell 620-3632C | 620-36 Processor 32K
ALLEN BRADLEY 2711-K5A8 (Surplus New In factory packaging)
Cutler Hammer RES1600LS NSFP **GENUINE** Eaton Westinghouse
MODICON 557VIC12640 (Surplus New In factory packaging)
YASKAWA ELECTRIC CIMR-G5M2037 (Surplus New not in factory packaging)
ONE NEW FANUC A06B-1408-B103 One year warranty
MODICON MM-PMC2-11S (Surplus New In factory packaging)
Brand NEW FANUC A06B-0272-B400 One year warranty
Brand NEW FANUC A02B-0311-B501 One year warranty
ONE NEW FANUC A06B-6105-H002 One year warranty
GETTYS M238-H60Y-300YWN (Surplus New not in factory packaging)
1 PC New Siemens 7ML5426-0BF00-0AA0 7ML54260BF000AA0 In Box
1 PC New Siemens 7ML5426-0BF00-0AA0 7ML54260BF000AA0
** New in Opened Box ** 1771-ofe2 Allen-Bradley/1771ofe2
NEW Siemens 3RW2240-0DB15 soft starter 160KW
RELIANCE ELECTRIC 0-57406-H DRIVE CONTROLLER *NEW NO BOX*
ABB BAILEY INICT13A NEW IN BOX
FANUC A06B-0502-B065 | $5,375.00 | NEW | IN STOCK | A06B0502B065
FANUC A05B-2301-C195 TEACH PENDANT WE SHIP WORLDWIDE
FANUC A06B-6096-H107 (Surplus New In factory packaging)
CPU 317F-2 DP 105 MB 6ES7317-6FF04-0AB0
CARRIER P045-25121K (Surplus New In factory packaging)
ALLEN BRADLEY 150-B97NBD-8L (Surplus New not in factory packaging)
Siemens 7ut5131-5cb01-1ca0/ll 7ut5 131-5cb01-1ca0/ll maschienenschutz-UN -
Siemens 6es7416-5hs06-0ab0/6es7 416-5hs06-0ab0
Siemens PANEL op270 key-10 CSTN 6av6 542-0cc10-0ax0 E-Stand: 13 NEW SEALED
Siemens 6av3627-1ql01-0ax0 Touch Panel tp27-10 10.4" NFP
Heidenhain Master Computer MC 422b, h10, 387 183-01
AUTOMATED LOGIC ME812U-LGR (Surplus New In factory packaging)
Siemens TELEPERM Analog Input 6ds1731-8fa 6ds1 731-8fa E-Stand: 05-SEALED -
ABB pm595-4eth-f 1sap155500r0279 CPU up 24vdc 15w-UN -
Siemens Sinumerik 840d PCU 50.5-c 6fc5210-0df52-3aa0 1,80ghz 4gb RAM is like new
MODICON MM-PMC2-200 (Surplus New In factory packaging)
** New in Opened Box ** 6ds1313-8ab Siemens/6ds13138ab
FANUC A06B-0501-B521 (Surplus New In factory packaging)
ALLEN BRADLEY 1785-L40B SER. C F/W U.2 PROCESSOR (REMANUFACTURED) *NEW IN BOX*
ALLEN BRADLEY 1785-L40B SER. D F/W C PLC-5/40 PROCESSOR MODULE *NEW IN BOX*
CUTLER HAMMER SPX050A1-2A1N1 (Surplus New In factory packaging)
SIEMENS 17JUH92NF17 (Brand New Current Factory Packaging)
CUTLER HAMMER HVX03031N1SA (Surplus New not in factory packaging)
COGNEX ISM1403-10 (Surplus New not in factory packaging)
Schneider Electric Modicon Quantum 140CPU43412A 140-CPU-434-12A Factory Sealed
MARSH PRINTER HEAD 30750 *NEW NO BOX*
REXROTH HDS03.2-W100N *NEW IN BOX*
NEW Fanuc A06B-6121-H045#H550 Servo Drive Amplifier
SIEMENS 9360RC (Brand New Current Factory Packaging)
CUTLER HAMMER AN16SN0AB (Surplus New In factory packaging)
NEW Fanuc A06B-6134-H302#A Servo Drive Amplifier
1 PC New Fanuc A06B-6134-H302#A Servo Amplifier In Box
MODICON 110-235 (Surplus New In factory packaging)
SIEMENS 545-1104 CPU *NEW NO BOX*
GENERAL ELECTRIC DS200FSAAG1ABA (Surplus New not in factory packaging)
ALLEN BRADLEY 2711P-T10C4D7 -FS-
** NEW IN SEALED BOX ** 6es5340-3kb42 Siemens/6es53403kb42
ASEA BROWN BOVERI 52614775 (Surplus New In factory packaging)
WOODHEAD V310307000 (Surplus New In factory packaging)
ALLEN BRADLEY 803-PL4 (Surplus New In factory packaging)
ONE NEW FANUC A06B-6150-H030 One year warranty
1 PC New Fanuc A06B-6150-H030 Servo Amplifier In Box
GE FANUC A06B-0829-B402#3000 AC SPINDLE MOTOR *NEW NO BOX*
Siemens 6ES5 466-4UA11, New, 6ES54664UA11, Fast Shipping
Mitsubishi Q3ACPU, New, Q3ACPU, Fast Shipping
Siemens 6AV6542-0CC10-0AX0 OP270, New, 6AV65420CC100AX0, Fast Shipping
1 PC New Fanuc A06B-6096-H103 Servo Amplifier In Box UK
ALLEN BRADLEY 1326AB-C3E-11 (Surplus New In factory packaging)
** NEW IN SEALED BOX ** 6ds1714-8ba Siemens/6ds17148ba
MITSUBISHI A61-6DAV (Brand New Current Factory Packaging)
ALLEN BRADLEY 1747-L552 (Surplus New In factory packaging)
HONEYWELL DR4500 DR45AT-1110-00-000-0-000000-0 CHART RECORDER *NEW IN BOX*
1 PC New Fanuc A06B-6140-H026 Servo Amplifier In Box UK
MISUMI MYAP50-240 (Surplus New In factory packaging)
SYMAX 8020-SCP-423 (Surplus New not in factory packaging)
Cutler Hammer AN16GG0AB NSFP **GENUINE** Westinghouse
SICK CLV480-1010 -NEW-
MKE118D-027-PG3-KE4 / R911306010 | NEW | NSFP
Rexroth | MKE118B-058-PG0-KE4 / R911308909 | NEW | NSFP | PLC2DAY
MAD100D-0150-SR-S2-AQ0-05-A1 / R911327538 | NEW | NSFP/A
MAD100D-0150-SR-S2-AQ0-05-A1 / R911327538 | NEW | NSFP/B
1 PC New Fanuc A05B-2518-C202#EMH Teach Pendant UK
NEW Sealed Box SIEMENS 6ES7 317-6TK13-0AB0 6ES7317-6TK13-0AB0
1 PC New Fanuc A06B-6088-H226#H500 Servo Amplifier In Box UK
** NEW IN SEALED BOX ** 6es5928-3ub12 Siemens/6es59283ub12
1 PC New Siemens 6ES7 318-3FL01-0AB0 6ES7318-3FL01-0AB0 In Box UK
SIEMENS 6ES7414-4HM14-0AB0 6ES7 414-4HM14-0AB0 NEW IN BOX
INDRAMAT MDD112C-N-030-N2M-130PB2 *NEW IN BOX*
ASEA BROWN BOVERI ACS550-U1-077A-6 (Surplus New In factory packaging)
ALLEN BRADLEY R2711B6C2L1/C PANEL VIEW *NEW IN BOX*
Siemens Simatic s5 6es5948-3ua11 6es5 948-3ua11 E-Stand: 04-UN/BOXED -
GE Fanuc IC800SSI104RD2-DE IC800SSI104 S2K SERVO NEW
ABB AUTOMATION Machine Terminal REM543CM214AAAB, REF542PLUS
GE FANUC DS200FCRRG1AKD DS200FCRRG DS200 NEW 6 MONTH WARRANTY
NEW FANUC 180i MB system A02B-0283-B801 Main Control
NEW SEALED ALLEN-BRADLEY PLC-5 HIGH RESOLUTION ANALOG MODULE 1771-NOC SERIES C
** New in Opened Box ** 6ds1410-8bb Siemens/6ds14108bb
ALLEN BRADLEY 2711P-T10C4D1 (Surplus New In factory packaging)
NEW FANUC A06B-6164-H343#H580
ALLEN BRADLEY 20AC072M3AYNANC0 (Surplus New In factory packaging)
NEW YOKOGAWA DX230-2-2/A3/F1/S13/NS-S CHART RECORDER
New YOKOGAWA DX230-2-2 A3/F1/S13 PAPERLESS RECORDER
1 PC New Fanuc A02B-0319-B500 Horizontal 0i-MD CNC System In Box
ONE NEW FANUC A06B-1499-B103 One year warranty
GENERAL ELECTRIC DS200-SDCC-G4A (Surplus New not in factory packaging)
ALLEN BRADLEY 1336-BDB-SP6D SER. C GATE DRIVER BOARD *NEW IN BOX*
NEW ALLEN BRADLEY 2711-B6C20 Ser C Touchscreen And Keypad Ethernet Color NIB
NEW Fanuc Servo Drive A06B-6141-H030#H580
1 PC New Fanuc A06B-6141-H030#H580 Servo Amplifier In Box
Brand New in Box Mitsubishi GT1695M-XTBA PLC
SIEMENS PXD63B140 (Surplus New In factory packaging)
RUSSELLSTOLL ELSFH8414FDC (Surplus New not in factory packaging)
Brand NEW FANUC A04B-0099-H062 One year warranty
SEW-EURODRIVE KA77DRE132M4BE11HF GEAR MOTOR 7.50 HP 12-70 RPM *NEW NO BOX*
SIEMENS 6RA7-087-6DV62-0-Z (Surplus New In factory packaging)
ALLEN BRADLEY 150-B97NBR (Surplus New In factory packaging)
Kuka KCP2 Pendant Control 00-114-265
Siemens 6FC5210-0DF52-3AA0
ALLEN BRADLEY 1785-L60L/E Extended Local I/O 2005 Rev Y02 PLC-5 PLC Processor
WESTINGHOUSE LC3600 CIRCUIT BREAKER 600A *NEW NO BOX*
PARKER MPM1901CSJ7G3R MOTOR 13.1 HP 3000 RPM *NEW IN BOX*
SSD DRIVE 955+8R0030 DRIVE 590P-DRV/500/0011/US/ARM/0/115/0/AUX/0 *NEW IN BOX*
NEW HACH ULTRA ORBISPHERE 410 410/C/W1C00000
1 PC New Fanuc A06B-6111-H037 Servo Amplifier In Box
ADEPT TECH 10171-00020 (Surplus New not in factory packaging)
INVENSYS P0973JN (Surplus New In factory packaging)
CUTLER HAMMER HJD3250F (Brand New Current Factory Packaging)
Allen Bradley 150F135NCD NSNP **GENUINE** 150 F135NCD
ABB 316ng65 Power Supply Module hesg 324490r1/e
ONE NEW FANUC A16B-2100-0115 One year warranty
1 PC New Siemens 6ES7 318-3FL01-0AB0 6ES7318-3FL01-0AB0 In Box
ALLEN BRADLEY 20BD077A0AYNAND0NNAD (Surplus New In factory packaging)
1 PC New Keyence SZ-01S Safety Laser Scanner UK
MEASUREX 51403476-150 (Surplus New In factory packaging)
GE FANUC IC3600SVSE1H1D (Surplus New In factory packaging)
ALLEN BRADLEY 966353-01 (Surplus New not in factory packaging)
BALDOR RELIANCE 57414-IE (Surplus New In factory packaging)
1 PC New Fanuc A06B-6164-H332#H580 Servo Amplifier In Box
ABB 6018BZ10200C MEMORY EXPANSION BOARD *NEW NO BOX*
1 PC New Fanuc A05B-2518-C204#EMH Teach Pendant UK
Cutler Hammer ECN2241AAH NSNP **GENUINE** Westinghouse
ONE NEW FANUC A06B-6140-H015 One year warranty
NEW Mitsubishi FR-A720-37K 200V One year warranty
ITT T1006 (Surplus New In factory packaging)
(New/other)Fanuc A06B-6112-H011 #550 / A06B-6112-H011#550 Free"FedEx" intl' ship
GE STM LIMIT BOARD 117D6690P3
ARISTA BOXPC-304K COMPUTER + MONITOR *NEW IN BOX*
MARKEM ENR0829033 MODEL 5200+5400 PRINTHEAD PRINTER *NEW IN BOX*
EXOR M15XC-E ELECTRONIC R+D MONITOR *NEW IN BOX*
Barber Colman MACO Compact Blow Molding Operation Station
BALDOR BL0052A03 AC SERVO DRIVE *NEW IN BOX*
TRUMPF 1275331 PSB100 VMc1-6 POWER SUPPLY BOARD W/ BOARD 1251377 B00 NIB
CP TECHMOTIVE C4700A01V216 *NEW IN BOX*
GENERAL ELECTRIC DS200TBQDG1AFF *NEW IN BOX*
REXROTH INDRAMAT MKD112C-024-KP3-BN MAGNET MOTOR *NEW IN BOX*
REXROTH INDRAMAT MKD112C-024-KP3-BN MAGNET MOTOR *NEW IN BOX*
ALLEN BRADLEY 1327ABAFL22E SERIES A SERVOMOTOR *NEW NO BOX*
PARKER MPM1901BTG7G1N SERVO MOTOR *NEW NO BOX*
**WARRANTY** Modicon 110-235/110235/410-4 Servo Controller **NEW** **WARRANTY**
Telesis Controller Panel Mount Pinstrip Marking System TMC470 *New No Box*
Contec ISA Single Board Computer SIS-8600-LV *New In Box*
ONE NEW FANUC A06B-6130-H004 One year warranty
1 PC New Fanuc A06B-6130-H004 Servo Amplifier In Box
MODICON AS-506P-F12 (Surplus New In factory packaging)
MODICON AS-506P-F16 (Surplus New In factory packaging)
SYMAX 8030-CRM-565 (Surplus New In factory packaging)
ASEA BROWN BOVERI MD3B1SPFRB (Surplus New In factory packaging)
2015 **FAST SHIPPING** SEALED! Allen Bradley 1771-NR Ser C 8 Pt Analog Input
OMRON CV1000-CPU01-E (Surplus New In factory packaging)
FOXBORO P0960AW (Surplus New not in factory packaging)
Allen Bradley 702LGOA93 NSFP **GENUINE** AB 702L GOA93
Allen Bradley 1402-LS51 Line Synchronization Module (LSM) Series B Module Sealed
