双臂移动机器人的多体动力学建模与仿真  

Multi-body dynamics modeling and simulation of a dual-arm mobile robot

作　　者：李浩[1] 陈炜[1,2] 张增峰[1] 张西正[1,2] LI Hao CHEN Wei ZHANG Zeng-feng ZHANG Xi-zheng(School of Mechanical Engineering, Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System, Tianjin University of Technology, Tianjin 300384, China Institute of Medical Equipment, Academy of Military Medical Science, Tianjin 300161, China)

机构地区：[1]天津理工大学机械工程学院天津市先进机电系统设计与智能控制重点实验室,天津300384 [2]军事医学科学院卫生装备研究所,天津300161

出　　处：《天津理工大学学报》2016年第5期36-42,共7页Journal of Tianjin University of Technology

基　　金：国家自然科学基金(11302147;51275353)

摘　　要：本文基于多体系统离散时间传递矩阵法,首先构建了双臂移动机器人的车体以及机械臂各杆件的刚体模型,推导出各元件所对应的传递矩阵;然后进一步得出了双臂移动机器人分叉链式多体系统的统一整体动力学方程,综合研究了机器人内部各元件之间的运动学及动力学的关系;最后采用MATLAB软件对动力学方程进行数值仿真.通过对仿真结果的分析,不仅验证了理论的正确性,也得到了各个关节的力矩的大小及变化规律,便于驱动电机的选型,同时为后续的控制系统设计提供了重要的理论依据.Based on the discrete time transfer matrix method for multi-body system, a multi-body dynamics model for mobile robot with two arms. Firstly, the rigid body model of the vehicle and manipulator of the mobile robot is constructed, and the transfer matrix of each element is deduced. Then the unified integral dynamics equation of this multi body system is obtained,and the relationship between the kinematics and dynamics of the various components of the robot is studied. Finally, the numerical simulation of the dynamics equation is carried out by using MATLAB software. Through the analysis of simulation results, validity of the theory is demonstrated, and law of torque changes of each joint is also obtained, which provide the important theoretical basis for motor selection and the later control system design.

关 键 词：双臂移动机器人 多体系统传递矩阵法 动力学建模 

分 类 号：TH113[机械工程—机械设计及理论]