微小研抛机器人动力学仿真分析与运动实验  

Dynamics simulation and kinematic experiment of small polishing robot

作　　者：谢哲东[1] 赵继[1] 张雷[1] 

机构地区：[1]吉林大学机械科学与工程学院

出　　处：《吉林大学学报（工学版）》2008年第2期349-353,共5页Journal of Jilin University:Engineering and Technology Edition

基　　金：国家自然科学基金项目(50575092);“863”国家高技术研究发展计划项目(2006AA04Z214)

摘　　要：针对所提出的一种可以在大型模具曲面上进行自主研抛作业的机器人结构,考虑其具有非完整约束的特点,建立了机器人的运动学关系。通过输入附加约束方程,利用Lagrange方法建立了微小研抛机器人多体系统动力学模型。通过动力学仿真分析,得到了比较稳定的机器人动力学特性。运动实验结果表明,该微小研抛机器人在轨迹行走过程中具有较好的稳定性和准确性。A new structure of robot for the autonomous polishing on the large mould free-form surfaces was proposed. Considering the feature of the nonholonomic constraints for the robot, its kinematic relations were derived. By inputting the additional constraint equations,a multi-body system dynamic model was established for the robot based on the Lagrangian method, and its dynamic simulation was conducted. It was shown that the dynamic characteristic of the robot is stable. The kinematic experiments indicated that the smoothness and the accuracy of its trajectory tracking are satisfactory.

关 键 词：机械制造自动化 微小研抛机器人 多体系统动力学 非完整约束 动力学仿真 

分 类 号：TH164[机械工程—机械制造及自动化]