三自由度并联分拣机器人的动力学建模与仿真  

Dynamic Modeling and Simulation of a 3-DOF Parallel Sorting Robot

作　　者：崔冰艳 桂小庚 曾鸿泰 李贺 CUI Bingyan;GUI Xiaogeng;ZENG Hongtai;LI He(College of Mechanical Engineering,North China University of Science and Technology,Hebei Tangshan 063000,China)

机构地区：[1]华北理工大学机械工程学院,河北唐山063000

出　　处：《包装工程》2024年第3期218-225,共8页Packaging Engineering

基　　金：国家青年科学基金(E51505124);河北省自然科学基金(E2017209252);河北省高等学校科学技术研究重点项目(ZD2020151);唐山市机器人机构学理论基础创新团队项目(21130208D);唐山市基础研究项目(23130201E);华北理工大学重点科研项目(ZD-YG-202306-23);华北理工大学专业学位综合改革项目(ZD18010223-03)。

摘　　要：目的 针对自动化生产线上分拣机器人的动力可控性问题,提出一种2UU-UPU三自由度并联分拣机器人,以提高分拣的精度可控性。方法 分析该机器人的机构自由度,以及各参数之间的关系,基于闭环矢量法建立并联机构的运动学逆解模型;利用拉格朗日动力学方程推导该机器人的动力学表达式,并进行数值计算,采用Matlab Simulink和Adams进行动力学联合仿真,对理论值和仿真值进行误差分析。结果 揭示了该机器人动平台的运动规律,得到了驱动力矩曲线,理论值与仿真值的误差较小,3个驱动力矩的最大误差分别为0.379%、0.283%、0.146%。结论 通过验证可知,该机构具有较好的动力学特性,这为后续电机的选型和精准控制奠定了基础。Aiming at the dynamic controllability of sorting robots in automatic production lines,the work aims to propose a 2UU-UPU 3-DOF parallel sorting robot to improve the accuracy and controllability of sorting.The relationship between the degrees of freedom and various parameters of the robot was analyzed,and an inverse kinematics model of the parallel mechanism was established based on closed-loop vector method.The dynamics expression of the robot was derived using Lagrange dynamics equations,and numerical calculations were performed.The dynamic joint simulation of the robot was performed using Matlab Simulink and Adams,and the error analysis of the theoretical and simulation values was performed.The motion law of the robot's moving platform was revealed,and the driving moment curves were obtained.The error between the theoretical value and the simulation value was small,with the maximum error of the three driving torques being 0.379%,0.283%,and 0.146%,respectively.It is verified that the mechanism has good dynamic characteristics,laying a foundation for the subsequent motor selection and precise control.

关 键 词：2UU-UPU并联机构 分拣机器人 动力学 分拣精度 

分 类 号：TH112[机械工程—机械设计及理论]