人造板上下料机械手的动力学分析及仿真  

Dynamic Analysis and Simulation of Loading and Unloading Manipulator for Wood-based Panel

作　　者：孙锐[1] 薛勃 王鑫[1] 杨春梅[1] 宋文龙[1] SUN Rui;XUE Bo;WANG Xin;YANG Chun-mei;SONG Wen-long(Northeast Forestry University,Harbin 150006,China)

机构地区：[1]东北林业大学,哈尔滨150006

出　　处：《包装工程》2022年第17期130-139,共10页Packaging Engineering

基　　金：黑龙江省应用技术研究与开发计划项目(GA19A402);中央高校基本科研业务费专项资金项目(2572020DR12);2021年度中央高校基本科研业务费青年教师创新项目计划项目(41421022)。

摘　　要：目的实现包装生产线上的自动化搬运作业,全面系统地了解人造板上下料机械手的动态特性,探究该机械手各关节所需驱动力大小及变化规律。方法建立人造板上下料的三维结构模型,制定机械手一周期内的运动流程,通过拉格朗日方程法对机械手进行建模,通过系统动力学仿真软件(Adams)仿真出机械手的动态特性并验证动力学模型的准确性。结果得到了机械手各关节(角)速度、(角)加速度、力与力矩变化曲线,(角)速度变化平缓无突变,(角)加速度、力与力矩曲线在6~9 s时变化剧烈,仿真曲线与动力学模型数据基本拟合。结论动力学模型建立正确,后续应优化驱动或通过结构优化方式使整个运动过程更加平稳。The work aims to realize the automatic handling operation of packaging production line,comprehensively and systematically understand the dynamic characteristics of loading and unloading manipulator for wood-based panel,and explore the driving force and variation law of each joint of the manipulator.A three-dimensional structure model for loading and unloading of wood-based panel was established.The motion process of the manipulator in one cycle was formulated.The manipulator was modeled by Lagrange equation method,the dynamic characteristics of the manipulator were simulated by system dynamics simulation software(Adams),and the accuracy of the dynamic model was verified.The change curves of(angular)velocity,(angular)acceleration,force and torque of each joint of the manipulator were obtained.The change of(angular)velocity was gentle without sudden change,and the curve of(angular)acceleration,force and torque changed sharply in 6 s-9 s.The simulation curve basically fitted the dynamic model data.The dynamic model is established correctly,and the subsequent driving or structural optimization should be used to make the whole movement process more stable.

关 键 词：人造板上下料机械手 静力学分析 拉格朗日方程法 动力学分析 ADAMS仿真 

分 类 号：TH132.4[机械工程—机械制造及自动化]