六自由度搬运机器人动力学分析及仿真  

Dynamic Analysis and Simulation of the Carrying Six-DOF Robot

作　　者：王殿君[1] 关似玉 陈亚[1] 刘占民[1] 

机构地区：[1]北京石油化工学院机械工程学院,北京102617

出　　处：《机械设计与制造》2017年第1期25-29,共5页Machinery Design & Manufacture

基　　金：国家863高技术项目(2012AA041402);北京石油化工学院URT项目(2014J00087)

摘　　要：针对模块化六自由度轻载搬运机器人的结构特点,利用Solid Works三维设计软件绘制了机器人的三维模型。采用拉格朗日法建立了机器人的动力学模型并进行动力学分析。基于ADAMS仿真软件构建了机器人的仿真模型并进行动力学仿真,得到了转动关节的力矩曲线。基于MATLAB软件对动力学方程进行了数值分析并绘制力矩曲线,其理论分析结果与ADAMS的仿真结果一致,验证了理论计算的正确性和机械结构设计的合理性,为继续优化机器人结构设计和控制系统设计奠定了基础。For the structural characteristics of the modular and light load carrying Six-DOF robot, the 3D model of the robot was drawn by SolidWorks 3D design software. The dynamic model of the robot was established by using Lagrange method and the dynamic analysis is carried out. Based on ADAMS simulation software, the robot simulation model was constructed and the dynamic simulation was carried out, and the torque curves of rotating joints were obtained. Based on the MATLAB software, the numerical analysis of the dynamic model was carried out and the torque curves were plotted, the theoretical analysis results are consistent with the simulation restdts of ADAMS, which verifies the correctness of the theory calculation and the rationality of the mechanical structure design, and provides the basis for the further optimization of the robot structure design and the optimal control.

关 键 词：搬运机器人 动力学模型 拉格朗日法 动力学仿真 

分 类 号：TH16[机械工程—机械制造及自动化] TP242.2[自动化与计算机技术—检测技术与自动化装置]