R20机器人仿真分析与试验  

R20 Robot Simulation Analysis and Test

作　　者：陈朋威 高飞 邬凯 CHEN Pengwei;GAO Fei;WU Kai(School of Mechanical Engineering,Shaanxi Polytechnic Institute,Xianyang 712099,China;College of Mechanical and Vehicle Engineering,Taiyuan University of Technology,Taiyuan 030024,China)

机构地区：[1]陕西工业职业技术学院机械工程学院,陕西咸阳712099 [2]太原理工大学机械与运载工程学院,山西太原030024

出　　处：《机械制造与自动化》2024年第2期188-192,共5页Machine Building & Automation

基　　金：陕西省教育厅服务地方专项(22JC005)。

摘　　要：以串联关节机器人为研究对象,根据机器人结构参数建立D-H法的机器人运动学模型,推导机器人运动学方程。使用ADAMS软件对机器人进行动力学仿真分析,计算各关节驱动力矩随时间变化的数据,将动力学计算的各关节最大动载荷作为机器人结构设计和有限元计算的力学条件,对机器人铸件进行有限元仿真分析,搭建实验平台,对机器人位置重复性、姿态重复性、重复定位精度、位置稳定时间和位置超调量进行测试,对实验数据进行整理和分析。仿真计算和实验结果表明:该机器人设计合理,满足设计指标要求。Taking the serial joint robot as the research object,the robot kinematics model of D-H method is established according to the robot structural parameters to derive the robot kinematics equation.The dynamic simulation analysis of the robot is carried out using ADAMS software,the data of the driving torque of each joint changes with time is calculated,and the maximum dynamic load of each joint calculated by dynamics is taken as the mechanical condition of the robot structural design and finite element calculation to conduct finite element simulation analysis on robot casting.With the establishment of experimental platform,the robot's position repeatability,posture repeatability,repetitive positioning accuracy,position stability time and position overshoot are tested,an their experimental data are sorted out and analyzed.The simulation calculation and experimental results verify that the robot design is reasonable and meets the index requirements as designed.

关 键 词：机器人 运动学 有限元 ADAMS 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]