空间柔性闭链机器人动力学建模与振动仿真  

Dynamic Modeling and Vibration Simulation of Spatial Flexible Closed-chain Robot

作　　者：张青云 赵新华 刘凉[2] 戴腾达[2] ZHANG Qingyun;ZHAO Xinhua;LIU Liang;DAI Tengda(School of Computer Science and Engineering,Tianjin University of Technology,Tianjin 300384,China;Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control,Tianjin University of Technology,Tianjin 300384,China)

机构地区：[1]天津理工大学计算机科学与工程学院,天津300384 [2]天津理工大学天津市先进机电系统设计与智能控制重点实验室,天津300384

出　　处：《农业机械学报》2021年第1期401-409,共9页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家重点研发计划项目(2017YFB1303502);天津市重点研发计划科技支撑重点项目(20YFZCGX01050);天津市教委科研计划项目(2017KJ259);天津市应用基础与前沿技术研究计划重点项目(17JCYBJC18300、18JCYBJC87900);天津理工大学教学基金项目(ZD20)。

摘　　要：空间闭链机器人的柔性连杆在高速运行状态下产生的弹性变形对系统振动效应具有重要影响。为准确分析柔性连杆对空间柔性闭链机器人振动特性的影响,采用有限单元法对柔性构件进行离散,基于浮动坐标系法描述构件位移场,最后通过Lagrange方程建立空间刚柔耦合闭链机器人动力学模型及振动方程,并分析系统固有频率和振型函数。基于同等参数,利用ADAMS/Vibration模块建立了空间刚柔耦合闭链机器人的自激振动仿真模型,研究系统固有频率和对应模态的变化,以及不同激振力作用下的频率响应特征。结果表明:理论模型和仿真模型的动平台运动轨迹基本一致,并且理论模型与振动仿真模型的固有频率也具有一致性,验证了振动仿真模型建立的正确性。随着激振力幅值的增大,系统响应增强。同一激振频率动平台质心处Y方向响应最大,X方向次之,Z方向最小。其中,系统第11、12阶模态对应的系统变形量最大,对应的激振频率为40~60 Hz。The elastic deformation of the flexible link in the spatial closed-chain robot under high-speed operation has an important impact on the vibration effect of the system.In order to accurately analyze the influence of the flexible link on the vibration characteristics of the spatial flexible closed-chain parallel robot,the finite element method was used to discretize the flexible link,and then the component displacement vector was described by the floating frame reference method.Finally,the spatial rigid-flexible coupling closed-chain robot was established based on the Lagrange equations dynamic model and vibration equation,and the system natural frequency and vibration mode function were analyzed.Based on the same parameter conditions,the ADAMS/Vibration module was used to establish the vibration simulation model of the spatial rigid-flexible coupling closed-chain robot,and the self-excited vibration analysis was carried out to study the change of the system natural frequency and the corresponding modal,as well as the different excitations frequency response characteristics under force.The results showed that themotion trajectories of the end-effector of the theoretical and the simulation model were basically the same,and they were also consistent with the natural frequencies of the vibration simulation model,which verified the correctness of the simulation model.As the amplitude of the excitation force increased,the system response was increased.Corresponding to the same excitation frequency,the Y-direction response at the center of mass of the moving platform was the strongest,followed by the X-direction,and the Z-direction was the smallest.Among them,the system corresponding to the 11th to 12th modes had the largest deformation,and the corresponding excitation frequency was 40~60 Hz.

关 键 词：空间柔性闭链机器人 刚柔耦合 振动分析 频率响应 动力学 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]