高速重载码垛机器人刚柔耦合运动行为仿真研究  

Kinematics simulation research on rigid-flexible coupling of high-speed and heavy-load palletizing robot

作　　者：芮执元[1,2] 芦士惠 郭俊锋[1,2] 王玺[1] 陆旺[1,2] 

机构地区：[1]兰州理工大学机电工程学院,兰州市730050 [2]兰州理工大学数字制造技术与应用省部共建教育部重点实验室,兰州市730050

出　　处：《中国农机化学报》2016年第12期188-192,209,共6页Journal of Chinese Agricultural Mechanization

基　　金：国家国际科技合作专项(2011DFR70670);国家自然科学基金资助项目(51065014)

摘　　要：随着冶金、石化等行业不断向高效方向发展,高性能高速重载机器人市场需求日益强烈。机器人应具有较快的搬运速度和较高的稳定性,分析高速重载机器人在整个工作过程中的运动状态显得尤为重要。本文以铝锭连铸生产线上的高速重载码垛机器人为研究对象,用SolidWorks软件建立该机器人本体三维模型,将机器人的小臂看成柔性体,底座、腰部、大臂等其他部件当成刚体,建立其刚柔耦合模型,用ADAMS软件仿真分析码垛机器人在一个工作循环内的运动过程,通过后处理得到手腕末端点处的位移、速度和加速度图像,并与全刚体仿真分析结果进行对比。结果表明:小臂杆的柔性变形对末端执行器的运动精度影响较大,刚柔耦合方法更加直观、准确地模拟码垛机器人的实际工作状况。Robot with high performance, high speed and heavy load is increasingly strong needed with the high efficient development of metallurgy, petrochemical and other industries. As faster speed and higher stability is required by robots, the analysis of robot＇s motion state in whole working process is particularly important. High-speed and heavy-load palletizing robot was regarded as the research object which is used for aluminum ingot of high speed continuous casting production line. Robot＇s 3D model was established by using SolidWorks software, taking robot＇s forearm as flexible body, robot＇s base, waist, arm and other parts as rigid body, thus the rigidflexible coupling model was set up. Motion process in a work cycle was analyzed in ADAMS and images of displacement, velocity and accelerations at the end of the wrist were obtained by post-processing and compared with rigid body kinematics simulation results. Results show that flexible deformation of the forearm pole had a greater influence on the movement precision of end performer. Rigidflexible coupling method is more intuitive, and can accurately simulate the actual working conditions of the palletizing robot.

关 键 词：高速重载 码垛机器人 ADAMS 刚柔耦合 运动仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]