扩展层级建模方法及其在挖掘机器人中的应用  

Extended Cascading Method for Multi-body Modeling and the Application to Excavator Robot

作　　者：赵睿英[1,2] 焦生杰[1,2] 王欣[1,2] 

机构地区：[1]长安大学公路养护装备国家工程实验室,陕西西安710064 [2]长安大学道路施工技术与装备教育部重点实验室,陕西西安710064

出　　处：《中国公路学报》2015年第5期150-158,共9页China Journal of Highway and Transport

基　　金："十二五"国家科技支撑计划项目(2015BAF07B08);中央高校基本科研业务费专项资金项目(CHD2011TD017;2014G1251024)

摘　　要：为了解决质量矩阵奇异时传统动力学建模方法失效和外力模型与约束力模型耦合时的解耦问题,基于复杂多刚体系统层级堆聚建模理论,提出了一种新的扩展层级建模方法。以挖掘机器人为研究对象,建立了其工作装置的动力学解析模型,并对其进行了数值仿真。结果表明:当子系统质量矩阵奇异时,扩展层级建模方法利用质量补充矩阵可得到子系统动力学解析模型通式;当子系统的外力和约束力耦合时,扩展层级建模方法借助约束方程的二阶形式可获得解耦的外力模型,该模型仅与系统广义位置、广义速度和时间变量相关;仿真结果连续、收敛,表明扩展层级建模方法在挖掘机器人中的应用有效、可行。For solving the problems of traditional mechanical modeling method failure for singular mass matrix and decoupling the constraint forces depending on the given forces of the multi-body modeling, based on the cascading and clustering theory for complex multi-body modeling, an extended cascading method was proposed. With excavator robot as application object for cascading and clustering modeling method, dynamic analytical model for the working device was established and the numerical simulation was carried out. The results show that through the auxiliary mass matrix, the extended cascading method can provide the general analytical model for subsystem dynamics under subsystem＇s singular mass matrix. When constraint forces coupling with given forces of subsystem, the decoupled given force model is obtained by utilizing the second form of constraint equation, which is only correlated with general coordinates, general velocities and time variable. Continuous and convergent simulation results show that the extended cascading method for the modeling of excavator robot is feasible and effective.

关 键 词：机械工程 复杂多刚体系统 层级堆聚建模理论 动力学解耦模型 奇异质量矩阵 挖掘机器人 

分 类 号：U415.511[交通运输工程—道路与铁道工程]