受约束工业机械手动力学建模与仿真  

Dynamics Modeling and Simulation of Industrial Manipulator Subject to Constraint

作　　者：常淑英[1,2] 杨传民[3] 冯丰[2] 刘佳[4] 

机构地区：[1]河北工业大学机械工程学院,天津300132 [2]天津电子信息职业技术学院机电技术系,天津300350 [3]天津商业大学机电工程学院,天津300134 [4]北京航空航天大学机械工程及自动化学院,北京100191

出　　处：《机械传动》2017年第6期138-142,共5页Journal of Mechanical Transmission

基　　金：天津市自然科学重点基金(15JCZDJC34100);天津市高校发展基金(20130403);天津市高等职业技术教育研究会课题(XV307)

摘　　要：工业机械手末端执行器以预定轨迹执行任务是工业生产中常见的运动形式。由于预定轨迹而产生的约束关系,使工业机械手的动力学特性表现出高度的非线性和耦合性,因此,利用传统的拉格朗日方程建立其动力学模型显得困难重重。针对受约束的工业机械手的动力学建模问题,基于分析力学界著名的Udwadia-Kalaba方程,获得了工业机械手在预定轨迹约束下各关节所需附加力矩的解析表达式及系统的动力学方程,克服了传统拉格朗日方程需借助拉格朗日乘子获得动力学方程的缺点。工业机械手的关节角变化规律和末端机械手运动轨迹的数值仿真结果证明所建立动力学方程符合实际情况。It is a common movement type in industrial production for the end - effector of industrial ma- nipulator executing tasks according to desired track. The high nonlinearity and coupling are shown from the dynamics characteristic of industrial manipulator because of the constrained relationship brought by desired task. Therefore, it is difficult to establish dynamical equation with traditional Lagrange equation. Aiming at the dynamics modeling of industrial manipulator subject to constraint, the additional torque and dynamical equation of industrial manipulator subject to some desired trajectory is acquired based on the famous Udwadia - Kalaba equation in analytical mechanics field. The disadvantage of obtaining dynamical equation from traditional Lagrange equation by Lagrange multiplier is overcome by the new approach. The stimulation results of the varying law of the joint angles and the motion path of the end - effector prove that the dynamical equation established by this method conforms to the matter of fact.

关 键 词：约束 工业机械手 动力学建模 Udwadia - Kalaba 方程 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]