码垛机械手机电液联合仿真研究  

Research on Coordinated Simulation of Stacking Manipulator

作　　者：史淑芬[1] 石海军 SHI Shu-fen;SHI Hai-jun(Industrial & Commercial School,Anhui University of Technology,Ma'anshan 243100,Anhui;Huatian Engineering & Technology Corporation,Nanjing 210000,China)

机构地区：[1]安徽工业大学工商学院,安徽马鞍山243100 [2]中冶华天工程技术有限公司,南京210000

出　　处：《合肥学院学报（综合版）》2019年第2期85-88,共4页Journal of Hefei University：Comprehensive ED

基　　金：安徽省重点研究与开发计划项目(1704a0902049)资助

摘　　要：为提高型材码垛机械手的设计效率,分析该机械手的动态特性,提出一种采用基于ADAMS和MATLAB/Simulink的机电液联合仿真分析方法。首先,建立型材码垛机械手三维实体模型,导入ADAMS中建立码垛机械手机械系统动力学模型,并验证模型的正确性;其次,在MATLAB/Simulink中建立码垛机械手控制系统模型,并通过ADAMS接口实现码垛机械手机电液联合仿真研究。结果表明该方法能够有效分析码垛机械手动态特性,为型材码垛机械手的设计开发提供理论依据。In order to improve the design efficiency of stacking manipulator for profile,and obtain the product property comprehensively,the co-simulation method for electromechanical liquid system was proposed based on ADAMS and MATLAB/Simulink joint modeling.First,a 3D model of stacking manipulator was built and imported into ADAMS.Then,the mechanical dynamic simulation model was built and tested.At last,control system of stacking manipulator for profile was built by MATLAB,and co-simulation of stacking manipulator was implemented by the interface modular part of MATLAB and Adams.The simulation results indicate that the proposed method can obtain dynamic response effectively,and provide an effective reference for the design and development of stacking manipulator.

关 键 词：码垛机械手 机电液系统 联合仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]