煤矿救援机器人的多体动力学  

Multi-body dynamics analysis of coal mine rescue robot

作　　者：朱斌[1] 张楠 胡南[3] 李宏峰[3] 

机构地区：[1]沈阳理工大学现代教育技术中心,辽宁沈阳110159 [2]沈阳煤业集团工程设计有限公司,辽宁沈阳110122 [3]辽宁工程技术大学机械工程学院,辽宁阜新123000

出　　处：《辽宁工程技术大学学报（自然科学版）》2013年第10期1354-1358,共5页Journal of Liaoning Technical University (Natural Science)

基　　金：国家科技支撑计划基金资助项目(2013BAH12F01);工业装备结构分析国家重点实验室开放基金资助项目(GZ1107)

摘　　要：根据拉格朗日方程建立了救援机器人机械腿的刚性动力学微分方程,通过对机械腿运动微分方程的推导和数值求解,对机械腿各关节的转角和末端轨迹进行了分析.采用Recurdyn建立了机器人机械腿的仿真模型,对仿真模型进行了动力学仿真,对比仿真结果和数值求解得到的轨迹,两种方法的结果基本一致,证明了采用多体动力学方法建立的机器人足臂的运动方程,可以准确地描述机器人足臂的动力学特性,为足臂的智能控制提供依据.According to the Lagrange's equations, rigid dynamics differential equations on a rescue robot mechanical legs were established. By the derivation and numerical solution of mechanical legs motion differential equations, the rotation and the end trajectory of mechanical legs joints were analyzed. This study built the robot mechanical legs simulation model with Recurdyn and carried out the dynamics simulation on the simulation model. Comparison of trajectory based on simulation results and numerical solution, the results of two methods are basically consistent. It proved that motion equation of robot feet and arms established based on multi- Body Dynamics methods could describe accurately the dynamics of robot feet and arms, which provided basis of intelligent control over robot feet and arms.

关 键 词：煤矿救援机器人 多体动力学 机器人足臂 拉格朗日方程 虚功原理 虚拟样机 仿真 控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]