铁路货车摘钩机器人的动力学分析与仿真  

Dynamic Analysis and Simulation for Wagon Uncoupling Robot

作　　者：刘超颖[1] 臧丽超 王战中[1] 熊蒙 杨长健[1] 

机构地区：[1]石家庄铁道大学机械工程学院,河北石家庄050043

出　　处：《机床与液压》2013年第17期142-145,共4页Machine Tool & Hydraulics

基　　金：河北省科技支撑项目(122121113D)

摘　　要：针对编组站驼峰摘钩问题,设计一种三自由度行走式摘钩机器人。在上关节处建立各连杆的坐标系,用D-H参数法推导出机器人的运动学方程,同时用拉格朗日法建立机器人的动力学方程。在Pro/E软件中建立摘钩机器人的三维模型,并将其导入ADAMS软件进行动力学仿真,得到摘钩机器人各关节的力/力矩-时间曲线。与理论计算结果进行对比,表明所建立的摘钩机器人的动力学方程是正确的,进而说明该摘钩机器人的结构可行。Based on the problem of the uncoupling operation in the hump of the marshalling station, a new kind of mobile robot with three degrees of freedom was designed. The link coordinate system of the robot was established on the top joint. Kinematical equa- tion of the robot was deduced with D-H parameters method, the dynamic equation was set up with Lagrange method. At last, the three- dimensional model built in Pro/E software was imported into the ADAMS software to conduct the dynamics simulation. The force-time/ torque-time curves were obtained. Comparing the simulation results with the calculation results, it is shown that the dynamic equation of the uncoupling robot is correct, and the structure of the robot is feasible.

关 键 词：摘钩机器人 运动学 动力学分析 仿真 

分 类 号：U291.44[交通运输工程—交通运输规划与管理] TP242.2[交通运输工程—道路与铁道工程]