SCARA机器人的拉格朗日动力学建模  

Dynamical Modeling of SCARA Robot Based on Lagrange Formulation

作　　者：崔敏其[1,2] 

机构地区：[1]华南理工大学广州学院工程研究院,广东广州510800 [2]香港中文大学机械与自动化工程学系

出　　处：《机械设计与制造》2013年第12期76-78,共3页Machinery Design & Manufacture

摘　　要：以SCARA型四自由度机器人为研究对象,采用Denavit-Hartenberg方法建立SCARA机器人的运动学模型,重点使用拉格朗日公式法对SCARA机器人的动力学模型进行了详细地推导,并得出SCARA机器人的动力学方程。同时归纳使用拉格朗日公式法推导机器人动力学模型的一般方法,该方法适用于其他构型机器人的动力学建模。最后对机械臂动力学方程的一般形式进行解析。使用拉格朗日公式法获得准确的机器人动力学模型可以为机器人的结构设计、关键件的选型以及控制器的设计和仿真提供依据。It describes the derivation for the dynamical model of4-DOF SCARA robot. Denavit-Hartenberg method was used to derive the kinematic model of SCARA robot. The dynamics model was derived based on Lagrange Formulation. The equations of motion for SCARA robot were presented by the result of the derivation. As well as describing the mathematical derivation, the procedures of using Lagrange Formulation method, which can be applied on the other robots with different configurations, were summarized here. At last, the dynamics equation of manipulator was analyzed. The accurate dynamics model which derived by Lagrange Formulation can contribute to the selection of major components, structure design, controler design and simulation for robots.

关 键 词：SCARA机器人 动力学模型 拉格朗日动力学公式 动力学仿真 

分 类 号：TH16[机械工程—机械制造及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]