基于拉格朗日方程建立的码垛机器人大转角动力学模型  

Large Ratation Palletizing Robot Dynamic Model Based on the Lagrange Equation

作　　者：李德虎 

机构地区：[1]山西东杰智能物流装备股份有限公司,太原030008

出　　处：《太原理工大学学报》2014年第3期347-351,共5页Journal of Taiyuan University of Technology

基　　金：山西省技术创新基金资助项目(2159904)

摘　　要：码垛机器人是物流自动化领域广泛使用的一种机器人。针对目前国内生产的该类机器人在大转角工作状态下存在的扭矩阻尼随转角的变化呈现非线性模型不确定,致使机器人的运动范围较小的状况,提出了一种采用第二类拉格朗日方程建立的码垛机器人动力学模型。通过对该种机器人进行详细动力学分析,确定了在大转角工作状态下机器人的广义驱动力模型;在控制上采用了滑模模糊控制技术,解决了原来码垛机器人在大转角、高速度运行情况下的扭矩阻尼随转角的变化中存在的非线性问题。实际应用表明,采用该动力学模型及其控制方法,提高了码垛机器人的转向运动控制角度,提高了国产码垛机器人的有效运行空间。Palletizing robot had been widely used in the field of logistics automation. For the current domesticcally produced robot under the working state of large rotation angle, the torque damping change with rotation angle is nonlinear, and the uncertainty of the model results in a small range of motion of the robot. This paper presented a dynamic model based on the second Lagrange equation; and, through the detailed analysis, established the generalized driving force model of robot in large angle condition. The control method adopted the sliding mode fuzzy control technology, to solve the nonlinear torque damping change with rotation angle changes under the condition of large rotation angle and high speed running. The practical application shows that the dynamic model and its control method enhanced the performance of the palletizing robot,and improved the operation of space.

关 键 词：码垛机器人 拉格朗日方程 动力学模型 滑模模糊控制 

分 类 号：TH692.3[机械工程—机械制造及自动化]