超高压水力破拆机械臂动力学分析及仿真  

Dynamics Analysis and Simulation of Robot Manipulator for Ultra-High Pressure Water Jet Dismantle

作　　者：彭见辉 邓三鹏[2] 赵天婵[1] 殷素峰[1] 

机构地区：[1]东莞理工学院城市学院,广东东莞523419 [2]天津职业技术师范大学机器人及智能装备研究所,天津300222

出　　处：《机电工程技术》2018年第2期45-48,共4页Mechanical & Electrical Engineering Technology

基　　金：国家科技支撑计划课题(编号:2015BAK06B04);广东省重点培育学科(粤教科函(2017)45号文件);东莞理工学院城市学院青年教师发展基金(编号:2016QJY002Z)

摘　　要：针对超高压水力破拆机械臂的特点,以拉格朗日能量法建立了机械臂的动力学方程,并在ADAMS中建立了机械臂刚体模型,模拟了机械臂破拆水平面上混凝土动作,得到了d_2、d_5、θ_6三个受力典型关节的驱动力(矩),利用MATLAB求出d--_2、d_5、θ_6三个典型关节的驱动力(矩),并与仿真数据具有较好的一致性,验证了动力学分析和仿真模型的正确性,对机械臂的动态特性及控制研究具有重要意义。According to the characteristics of robot manipulator for ultra-high pressure water jet dismantle,the dynamic equation of robot manipulator was established by Lagrange energy method.The rigid body model of robot manipulator was established in ADAMS, and the driving force （torque） of the three typical joints was obtained during the simulated movement of dismantled the concrete on the surface. The driving force （torque） of the three typical joints was calculated by MATLAB, and the data has a good consistency with the simulation data. It is proved that the dynamic analysis and simulation model are correct, which has great significance to the dynamic characteristics and control of robot manipulator.

关 键 词：机械臂 ADAMS MATLAB 动力学分析 

分 类 号：TH16[机械工程—机械制造及自动化]