液压支架焊接机器人动力学仿真  

Dynamics Simulation of Welding Manipulator for Hydraulic Support

作　　者：刘娜[1] 周丹[1] 张翔宇[1] 唐宏成 邱鼎 范迅[1] 

机构地区：[1]中国矿业大学(北京)机电与信息工程学院,北京100083

出　　处：《煤炭技术》2016年第2期256-259,共4页Coal Technology

摘　　要：由于液压支架焊接机械臂具有局部闭链机构,导致关节之间的运动传递有诱发现象,当部分关节运动时,相应的关节会产生附加运动。通过Matlab和ADAMS/View软件对含有局部闭链焊接机械臂进行正、逆动力学仿真,分析数据曲线图,总结6个关节角度和力矩随着时间变化的规律,从而为机械臂的设计提供参考和依据。Due to the closed-loop chain involved in welding manipulator for the hydraulic support, the induced phenomena would generate in transmission movement between joints. When several joints move, the relevant joints will produce additional movement. Forward and inverse dynamicsof the welding manipulator have been simulated by Matlab and ADAMS/View softwares, the data curves of six joints about angle and torque change along with time can be obtained. Analyzing the data curves and summarizing the rule of change would provide some reference and basis for the design of the manipulator.

关 键 词：机械臂 动力学 虚拟仿真 局部闭链 

分 类 号：TD355[矿业工程—矿井建设]