基于Adams的6R选矸机械臂关节速度规划  

Joint Speed Planning of 6R Gangue Selection Manipulator Based on Adams

作　　者：高清冉[1] 任艳霞[1] 李小伟 GAO Qing-ran;REN Yan-xia;LI Xiao-wei(Jiyuan Vocational and Technical College,Jiyuan 459000,China)

机构地区：[1]济源职业技术学院,河南济源459000

出　　处：《煤炭技术》2021年第10期190-192,共3页Coal Technology

基　　金：河南省高等教育教学改革研究与实践项目(2017SJGLX160)。

摘　　要：设计了一种6R选矸机械臂并提出了一种三次S形加减速控制算法来提高其运动平稳性。首先建立梯形、7段S曲线加减速控制算法,通过分析这2种算法对机器人运动平稳性的影响,提出了一种三次S形加减速控制算法。利用Adams对3种算法进行仿真分析,结果表明新型的S形加减速控制算法在提高6R选矸机械臂的运动平稳性方面更具优势并为6R选矸机械臂后续的运动控制分析和优化奠定了基础。A 6 R gangue selection manipulator is designed and a three-time S-shaped acceleration and deceleration control algorithm is proposed to improve the smoothness of its motion. Firstly, a trapezoidal and 7-segment S-curve acceleration and deceleration control algorithm is established. By analyzing the influence of these two algorithms on the motion stability of the robot, a cubic S-curve acceleration and deceleration control algorithm is proposed. Using Adams to simulate and analyze the three algorithms,the results show that the new S-shaped acceleration and deceleration control algorithm has more advantages in improving the smoothness of the 6 R loading and unloading robots, and lays the foundation for the subsequent motion control analysis and optimization of the 6 R loading and unloading robots.

关 键 词：6R选矸机械臂 三次S形加减速控制算法 ADAMS 运动平稳性 

分 类 号：TH113[机械工程—机械设计及理论] TP273[自动化与计算机技术—检测技术与自动化装置]