大负载SCARA机器人刚柔耦合动力学性能研究  

Mechanical Research on Rigid-flexible Coupling Dynamics Performance of Large-load SCARA Robot

作　　者：胡俊杰[1] 栾楠[1] 

机构地区：[1]上海交通大学机器人研究所,上海200240

出　　处：《机电一体化》2017年第3期9-14,47,共7页Mechatronics

摘　　要：针对一种大负载的SCARA机器人进行动力学性能仿真。采用拉格朗日法建立该机器人的动力学模型,使用MATLAB/Robotics工具箱进行运动学仿真,得到指定路径下机器人关节驱动函数,并校核电机和减速器的选型。为更贴近实际情况,在ansys中对机械臂进行刚柔耦合处理,将生成的mnf文件导入ADAMS中,建立刚柔耦合模型进行动力学仿真。对比刚柔耦合情况下和刚性情况下的末端轨迹,分析偏差曲线,并以此为依据优化运动曲线,减小机器运动时的误差。In this paper, the dynamic performance simulation of a large load SCARA robot is carried out. First of all, the dynamics model of the robot is established based on the theory of Lagrange method. Using MATLAB/Robotics Toolbox to program and perform kinematics simulation, getting the angular displacement curves of the joints and checking the motor and reducer selection. For more close to the actual situation, the flexible mechanical arm is created in ansys. Import the mnf neutral file generated in ansys into ADAMS to build the rigid-flexible coupling model. Finally, after comparing the two displacement deviation curves of the robot end-effector, the theoretical basis for optimal design of robot was provided, so the motion curve can be improved to reduce the position error.

关 键 词：SCARA 刚柔耦合 联合仿真 动力学分析 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]