基于4自由度操作臂无冲击轨迹规划及动力学仿真分析  

Non-impact Trajectory Planning and Dynamics Simulation Analysis of Four-DOF Manipulator

作　　者：刘磊 朱兴龙[1] 尹珺瑶 Liu Lei;Zhu Xinglong;Yin Junyao(College of Mechanical Eengineering,YangZhou University,Yangzhou 225127,China)

机构地区：[1]扬州大学机械工程学院,江苏扬州225127

出　　处：《机械传动》2020年第4期113-119,共7页Journal of Mechanical Transmission

基　　金：江苏省自然科学基金(BK20171287)。

摘　　要：在机器人操作臂的研究过程中,其运动轨迹规划及动力学分析是重要部分。针对验电及架设接地线4自由度操作臂的结构特点,采用拉格朗日法建立了动力学模型,并进行了动力学分析,在4阶多项式规划的基础上提出了无冲击轨迹规划。利用Matlab中的Simulink模块得到各关节的力矩、力随时间变化的曲线。运用Adams软件对其进行动力学仿真,得到各关节的力矩、力仿真曲线;与Simulink计算出来的曲线进行对比,确定了动力学分析的正确性,为结构设计和系统控制奠定了基础。In the research of robotic manipulator,trajectory planning and dynamics analysis are very important.In view of the structural characteristics of the four-DOF manipulator for electro test and installation of ground wire,the dynamics model is established by Lagrange method and the dynamics analysis is carried out.On the basis of fourth order polynomial,the non-impact trajectory planning is proposed.The Simulink module in Matlab is used to get the curve of the moment and force of each joint changing with time.Using Adams software to carry out dynamics simulation,the moment and force curve of each joint are got,and compare with the curve calculated by Simulink,the correctness of dynamic analysis are confirmed,the foundation for the next structural design and system control is laid.

关 键 词：4自由度操作臂 无冲击轨迹规划 动力学分析 SIMULINK ADAMS仿真 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]