五自由度移动机械手的动力学建模与仿真  

Dynamics Analysis and Simulation of 5-DOF Mobile Manipulator

作　　者：梁宏宝[1] 夏飞 韩东 LIANG Hongbao;XIA Fei;HAN Dong(Mechinery School of Science and Engineering,Northeast Petroleum University,Daqing 163318,China)

机构地区：[1]东北石油大学机械科学与工程学院,黑龙江大庆163318

出　　处：《机械制造与自动化》2018年第6期112-114,146,共4页Machine Building & Automation

摘　　要：设计了用于危险化工原料在管道运输和反应容器中泄漏修补的移动机械手。该系统由移动平台和固接在其上的五自由度关节机械手构成。采用牛顿-欧拉方法建立该机械手的动力学模型,并考虑了平台运动时在机械手上产生的惯性力对模型的影响。最后使用ADAMS软件对样机模型进行了仿真验证。This papaer designs a mobile robot which can be used to repair the leaked transportation pipeline and reaction vessels with hazardous chemical raw materials.The mobile manipulator consists of a five-degree-of-freedom series manipulator and a mobile platform.The inverse kinetic model of the tandem manipulator is established by Newton-Euler method.And the influence of the interaction between the platform and the manipulator on the model is considered,then,the inverse kinematic model of the manipulator is simulated by ADAMS software.The foundation is laid for the optimization of the structural parameters of the follow-up mobile manipulator and the design of the controller.

关 键 词：机械手 动力学仿真 牛顿-欧拉方法 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置] TP391.9[自动化与计算机技术—控制科学与工程]