新型物流搬运机器人动力学仿真分析  

Dynamic Simulation Analysis of New Logistics Handing Robot

作　　者：王金萍 唐兵[1] 王洪燕 徐朝月 施立品 宁青杰 Wang Jinping;Tang Bing;Wang Hongyan;Xu Zhaoyue;Shi Lipin;Ning Qingjie(School of Mechanical Electronic & Information Engineering,China University of Mining & Technology(Beijing),Beijing 100083,China;Literature Department,Patent Office of National Intellectual Property Administration,PRC,Beijing 100088,China)

机构地区：[1]中国矿业大学(北京)机电与信息工程学院,北京100083 [2]国家知识产权局专利局文献部,北京100088

出　　处：《兵工自动化》2019年第6期87-91,96,共6页Ordnance Industry Automation

基　　金：中国博士后科学基金资助项目(2012M510424);中央高校基本科研业务费专项基金资助项目(800015FH)

摘　　要：针对物流搬运机器人在物流和生产中的应用,利用仿真方法对物流搬运机器人动力学进行分析。结合机器人在实际环境下的运动特征及受力分析,建立动力学模型,将3维机器人模型导入到ADAMS软件中,构建机器人虚拟样机,得到机器人在平面、弯道这2种路面运动时的仿真曲线。仿真结果表明:该模型的准确性,可为智能物流机器人的研究提供参考依据。For the application of logistics handling robots in logistics and production,the simulation method is used to analyze the dynamics of logistics handling robots.Combining the motion characteristics and force analysis of the robot in the actual environment,the dynamic model is established,and the 3D robot model is used into the ADAMS software to construct the virtual prototype of the robot,and the simulation of the 2 kinds of road motions of the plane and the curve is obtained.The simulation results show that the accuracy of the model can provide reference for the research of intelligent logistics robots.

关 键 词：物流搬运机器人 ADAMS 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]