带货架的轮式物流机器人碰撞建模与仿真分析  

Modeling and simulation on vibro-impact of wheeled mobile logistics robot with warehouse rack

作　　者：张梁[1] 张方[1] 蒋祺[1] 朱伟 Zhang Liang Zhang Fang Jiang Qi Zhu Wei(Nanjing University of Aeronautics and Astronautics State Key Laboratory of Mechanics and Control of Mechanical Structures, Nanjing 210016, China Huaheng Welding Co. ,Ltd. Kunshan 215313, China)

机构地区：[1]南京航空航天大学机械结构力学及控制国家重点实验室,南京210016 [2]昆山华恒焊接股份有限公司,昆山215313

出　　处：《国外电子测量技术》2017年第9期50-54,共5页Foreign Electronic Measurement Technology

基　　金：机械结构力学及控制国家重点实验室(南京航空航天大学)自选研究课题(0115K01);江苏高校优势学科建设工程基金(PAPD)资助

摘　　要：针对轮式物流机器人在运送货物过程中出现货架与机身的碰撞带来的振动问题,采用等效的非线性弹簧阻尼模型描述了货架与机身的碰撞过程,运用拉格朗日乘子法建立了包括货架在内的多刚体动力学模型,写出机器人整体的动力学方程。选取物流机器人典型的几个工况,通过Newmark差分法求解得到的微分-代数动力学方程。最后在ADAMS仿真软件中建立了轮式机器人的虚拟样机模型,在相同条件下进行分析计算,对比分析了轮式机器人在工作过程中货架的运动状态,为轮式物流机器人的稳定性控制奠定了基础。In order to analyze the vibration caused by the impact between warehouse rack and wheeled mobile logistics robot（WMLR）during cargo transportation,equivalent nonlinear spring-damping model is used to describe the impact process between the rack and WMLR,and the multibody dynamic model of WMLR as well as the warehouse rack is established with Lagrangian Multiplier Method.The result of differential-algebraic equation obtained from multibody dynamic model is calculated by using Newmark difference method in terms of several typical work cases of the rack.A virtual prototype of WMLR is also established in ADMAS,and the dynamic response of the rack during transportation is analyzed and compared with the results of analytical model.The results provide significant instructions for stability control of WMLR.

关 键 词：物流机器人 碰撞 NEWMARK 多体动力学 

分 类 号：TP202[自动化与计算机技术—检测技术与自动化装置] TP242[自动化与计算机技术—控制科学与工程]