Research on Co-simulation for Mechatronic System of Parallel Robot

This paper studies on the mechantronic system of parallel robot by using interface technique between ADAMS and MATLAB software. MATLAB/Simulink is used to model the control concepts which drive the dynamics of the system based on sensor feedback, while ADAMS is used to model the mechanical parts of the system that are influenced by the geometric layout and by external loads and forces. The simulation method is implemented by using ADAMS/control software for simulation of the mechanical system and MATLAB/Simulink for control system. The virtual prototype model of parallel robot is built in ADAMS, and then the dynamics equation is derived to design the control system in MATLAB. The ADAMS/Controls plug-in module enables the date exchange between ADAMS and MATLAB/Simulink, and there are four steps according to the ADAMS/Controls specifications to model a co-simulation model. After the co-simulation model is built, the simulation is carried out and the results are also given for analyzing. This method can save time and cost for deign Mechatronic system, and it is easy to adjust and change the control system to control the mechanical system better, and the result also can be easily observed for designer.