冗余度柔性机器人协调操作刚性和柔性负载的仿真分析  

Simulation Analysis of Redundant Flexible Robots Cooperating Rigid and Flexible Payload

作　　者：刘迎春[1] 余跃庆[1] 

机构地区：[1]北京工业大学机电学院,北京100022

出　　处：《机械科学与技术》2005年第6期631-635,共5页Mechanical Science and Technology for Aerospace Engineering

基　　金：国家自然科学基金项目(50375003);北京市自然科学基金项目(3012003)资助

摘　　要：采用有限元方法建立了冗余度柔性机器人协调操作柔性负载的模型。首次对两4R冗余度柔性机器人协调操作刚性和柔性负载进行了不同目标任务的对比数值仿真分析,指出任务空间和初始角度均是影响系统性能的因素,在设计任务时应选择较好的机器人可操作空间给定任务,使机器人采用较好的初始位形进行运动以提高系统性能。在对系统精度要求较高并且负载与机器人杆件具有接近的尺寸、材料更轻、刚度相近或更小时,需要考虑负载的柔性,以获知精确的负载位姿信息,利用运动补偿等方法消除不利因素,提高系统精度。The dynamic model of redundant flexible robots cooperating flexible payload is first established by using finite element method. The simulation analysis of redundant flexible robots cooperating rigid and flexible payload doing different tasks is done for the first time. It is pointed out that system performance is affected by working space and initial configuration. They should be selected properly in robot design to improve system performance. If the sizes of payloads are close to or bigger than the manipulators, and they have similar or smaller stiffness, the flexibility of the payloads should be considered in robot system when high precision is required.

关 键 词：机器人 冗余度 柔性 协调操作 

分 类 号：TH112[机械工程—机械设计及理论]