双机器人系统运动协调仿真与实验研究  

Motion Coordinated Simulation and Experimental Study of Dual-Robot System

作　　者：王文林[1] 杨前明[1] 孙超 WANG Wen-lin;YANG Qian-ming;SUN Chao(College of Mechanical and Electronic Engineering,Shandong University of Science and Technology,Qing-dao Shandong 266590,China)

机构地区：[1]山东科技大学机械电子工程学院,山东青岛266590

出　　处：《组合机床与自动化加工技术》2020年第4期42-46,50,共6页Modular Machine Tool & Automatic Manufacturing Technique

摘　　要：针对具有重量大、形状不规则特征的物品,采用双机器人协同作业是该技术领域的研究热点问题之一。运用ADAMS软件对双机器人虚拟样机进行运动学仿真分析,模拟空间搬运轨迹,对DREE末端点的运动轨迹曲线进行同步误差分析。搭建了实验平台,对双机器人同步搬运箱体进行实验验证。实验结果表明:双机器人协作搬运箱体时,在水平方向和垂直方向的轨迹误差均小于±2.8mm,较好地满足同步搬运作业工艺要求。For objects with the workpiece of heavy and irregular shape,the cooperative operation of dual-robot is one of the hot topics in the field.The kinematics simulation and analysis of the dual-robot virtual prototype and simulate the trajectory of space handling as well as analyse of the synchronization error of the DREE end point motion trajectory have been finished by using the ADAMS.An experimental platform was built to verify the synchronous handling of the box by dual-robot.The experimental results show that the trajectory errors in both horizontal and vertical directions are less than±2.8 mm when the dual-robot cooperate to carry the box,which satisfies the technological requirements of synchronous handling.

关 键 词：ADAMS 双机器人协同 轨迹曲线 同步搬运作业 

分 类 号：TH165[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]