HDPE膜焊接机器人热力机电耦合能域系统动力学全解建模  

Dynamic full solution modeling of HDPE film welding robot thermal-mechanical-electric coupled energy domain system

作　　者：陈亚宇 陈鑫宇 郭菲 孟彩茹 张超 陈月 CHEN Yayu;CHEN Xinyu;GUO Fei;MENG Cairu;ZHANG Chao;CHEN Yue(College of Mechanical and Equipment Engineering,Hebei University of Engineering,Handan 056038,China;Library,Hebei University of Engineering,Handan 056038,China;Hebei Construction Group Installation Engineering Co.,Ltd.,Baoding 071000,China)

机构地区：[1]河北工程大学机械与装备工程学院,河北邯郸056038 [2]河北工程大学图书馆,河北邯郸056038 [3]河北建设集团安装工程有限公司,河北保定071000

出　　处：《振动与冲击》2022年第21期60-68,共9页Journal of Vibration and Shock

基　　金：河北省省级科技计划(20373901D);河北省自然科学基金(E2019402312);国家自然科学基金(51807047)。

摘　　要：针对运营中垃圾填埋场高密度聚乙烯(high density polyethylene,HDPE)膜漏洞修补问题,提出一种将并联机构和热熔焊接加工结合起来的智能焊接机器人系统,围绕机、电、热多能域耦合系统动力学展开研究。利用键合图及旋量键合图理论分别构建了电机驱动子系统、末端热熔焊执行子系统及并联机构机械本体动力学模型,得到机电热多能域系统全解动力学模型。对于给定焊缝实际执行轨迹,通过MATLAB软件状态方程求解、ADAMS软件模型动力学仿真及20-sim键合图仿真综合进行分析验证,验证了该机器人多能域系统动力学全解模型合理性,为其后续动力学参数辨识以及动力学控制研究奠定基础。Here,aiming at the problem of repairing high density polyethylene(HDPE) film loopholes in operating landfills,an intelligent welding robot system combining parallel mechanism and heat melt welding processing was proposed,and dynamic characteristics of the system was studied around its mechanical-electric-thermal coupled multi-energy domain.Bond graph and spinor bond graph theory were used to construct motor drive subsystems,end heat melt welding execution subsystems and parallel mechanism mechanical bodies,respectively,and the full solution dynamic model for the mechanical-electric-thermal coupled multi-energy domain system was obtained.For the actual execution trajectory of the given weld seam,through using MATLAB state equation solving,ADAMS model dynamic simulation and 20-sim bond graph simulation to do comprehensive analysis,the rationality of the full solution dynamic model for the robot multi-energy domain system was verified,and a foundation was laid for the system’s subsequent dynamic parametric identification and dynamic control study.

关 键 词：动力学建模 旋量键合图 热力机电耦合能域 并联机构 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] O414[自动化与计算机技术—控制科学与工程]