基于运动力学分析的六轴机械臂牵引控制设计  

Mechanical Design of a Six-axis Manipulator in Kinematic Mechanics

作　　者：杨宽 金建辉[1] Yang Kuan;Jin Jianhui(School of Information Engineering and Automation,Kunming University of Science and Technology,Kunming City,Yunnan Province 650504,China)

机构地区：[1]昆明理工大学信息工程与自动化学院,云南省昆明市650504

出　　处：《农业装备与车辆工程》2022年第11期32-35,共4页Agricultural Equipment & Vehicle Engineering

基　　金：云南省科学技术厅重大科技专项计划(2018BA070)。

摘　　要：针对机械臂系统的位置/力学建模分析,对重构的模型进行静态和动态分析,降低了优化后机械臂结构的应力和应变,设计并优化了六轴机械臂的平行牵引控制。通过建立系统仿真模型并在MATLAB中仿真,在静态和动态工作条件下对设计的自适应位置/力控制器进行了求解和分析。经过多次迭代试验,证明联动六轴机械臂运动模型具有良好的运行稳定性,测试精度和误差范围都保持在较好水平,拓展了机器人的应用空间。According to the position/mechanics modeling analysis of the manipulator system,the static and dynamic analysis of the reconstructed model is carried out to reduce the stress and strain of the optimized manipulator structure,so as to design and optimize the parallel traction control of the industrial robot six-axis manipulator.The adaptive position/force controller described in this study is solved and assessed using a system simulation model and a MATLAB software under static and dynamic operation circumstances.Following many iterative testing,it is demonstrated that the linkage six-axis mechanical arm motion model has outstanding operation stability,test accuracy and error range,which extends the space for the wide application of robots.

关 键 词：六轴机械臂 机械特性 正向和反向运动力学 机械模型 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]