铣削机器人动力学建模及仿真研究  

Research on the Dynamic Modeling and Simulation of Milling Robot

作　　者：张永贵[1] 牛蓉 周明 夏恩帅 ZHANG Yonggui;NIU Rong;ZHOU Ming;XIA Enshuai(College of Mechanical and Electrical Engineering,Lanzhou University of Technology,Lanzhou 730050,China;Science and Technology on Vacuum Technology and Physics Laboratory,Lanzhou Institute of Space Technology Physics,Lanzhou 730000,China)

机构地区：[1]兰州理工大学机电工程学院,甘肃兰州730050 [2]兰州空间技术物理研究所真空技术与物理重点实验室,甘肃兰州730000

出　　处：《机械制造与自动化》2020年第3期98-101,共4页Machine Building & Automation

基　　金：兰州市科技局科技计划项目(20180429)。

摘　　要：铣削机器人在铣削过程中的动力学状况对机器人在铣削过程中的运动及其稳定性具有较大影响。以6-DOF铣削机器人为研究对象,利用Creo三维软件建立机器人三维模型,获得建立机器人动力学模型的惯性参数;采用Newton-Euler递推法建立该机器人的动力学方程,并在MATLAB环境下对所建立的动力学方程进行编程,对机器人运动过程进行计算分析;利用ADAMS软件对建立的三维模型进行动力学仿真分析,通过比较MATLAB计算结果与ADAMS仿真分析结果,以验证动力学方程的准确性,为铣削过程中铣削机器人动力学状况研究提供理论基础。The dynamic conditions of milling robot in milling process have great influence on the movement and stability of the mechanism.This paper takes the 6-dof milling machining robot as research object.The three-dimensional model of the robot is established using the three-dimensional modeling software Creo,which is used to obtain the inertial parameters of the robot dynamic modeling.The dynamic analysis of the industrial milling robot is performed by using Newton-Euler recursive method.And in the MATLAB environment,the established dynamic equations are programmed,then,the robot movement process is calculated and analysed.And then,ADAMS software is used to conduct the dynamic simulation analysis of the established three-dimensional model,and the results of MATLAB calculation and ADAMS simulation analysis show that the established dynamic equation is correct.The certain theoretical basis is provided for researching on the dynamic condition of milling robot in the milling process.

关 键 词：机器人 铣削加工 动力学方程 Newton-Euler递推法 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]