基于Adams的多输出头操作臂耦合工作台系统运动学仿真分析  

Kinematics simulation analysis of multi‑output manipulator coupling worktable system based on Adams

作　　者：胡喜雷 张长青[1,2] 于航 杨光[1,2] HU Xilei;ZHANG Changqing;YU Hang;YANG Guang(Research Institute of Forestry New Technology,Chinese Academy of Forestry,Beijing 100091,China;Beijing Forestry Machinery Research Institute of the State Forestry and Grassland Administration,Beijing 100029,China)

机构地区：[1]中国林业科学研究院林业新技术研究所,北京100091 [2]国家林业和草原局北京林业机械研究所,北京100029

出　　处：《武汉大学学报（工学版）》2024年第7期979-987,共9页Engineering Journal of Wuhan University

基　　金：中央级公益性科研院所基本科研业务费专项资金(编号:CAFYBB2020SY043)。

摘　　要：为设计能够和木工数控加工中心操作臂进行耦合运动的工作台,在木工数控加工中心工作台上实现木工件的装夹以及数控加工,结合现有木工数控加工中心操作臂的结构参数以及大型柱状和面板状木构件开放式加工的实际要求,通过SOLIDWORKS三维设计软件对木工数控加工中心工作台进行了结构设计,根据实际木工件的尺寸、重量和运动要求对驱动电机进行选型,根据改进D-H(Denavit-Hertenberg)法将木工数控加工中心工作台和操作臂运动学模型简化为2个运动学支链,对其进行运动学分析并基于解析法求出运动学逆解,通过SOLIDWORKS和Adams建立联合虚拟仿真模型对木工数控加工中心工作台和操作臂进行仿真分析,最终设计了能够沿X和Y方向移动的工作台以及绕A轴转动的悬臂梁式工件装夹平台,研制了弧形导轨滑动组件以抵消悬臂梁的挠性变形。SOLIDWORKS仿真结果表明,木工数控加工中心工作台可以按照预定设计方案进行运动,和机械臂联动实现对木工件的加工。通过Adams虚拟仿真得到各部件位移、速度和加速度的运动曲线,结果表明,工作台的速度在0~0.6 m/s之间,角速度在0~1.7977 rad/s之间,加速度和角加速度的最大值分别为0.83 m/s 2和1.5708 rad/s 2,且连续无突变。仿真结果表明,电机选型合理,能够满足转速和转矩要求,木工数控加工中心工作台能够和操作臂耦合运动进而实现对木工件加工。In order to design a worktable that can be coupled with the manipulator of woodworking CNC(computerized numerical control)machining center to realize the clamping and CNC machining of woodworking parts on the woodworking CNC machining center worktable,the structural design of the woodworking CNC machining center worktable was carried out by SOLIDWORKS 3D design software combined with the structural parameters of the existing manipulator of the woodworking CNC machining center and the actual processing requirements of the open processing of large column and board wood components.According to the size,weight and movement requirements of actual woodworking parts,the drive motor was selected.The kinematic models of the woodworking CNC machining center worktable and the operator arm were simplified into two kinematic branch chains according to the improved D-H(Denavit-Hertenberg)method,and the kinematics analysis was carried out and the kinematic inverse solution was derived based on analytical method.The joint virtual simulation model was established by SOLIDWORKS and Adams,and the worktable and operating arm of woodworking CNC machining center were simulated and analyzed.Finally,a worktable which could move along X and Y directions and a cantilever beam type work-piece clamping platform which could rotate around axis A were designed,the sliding component of the curved guide rail was developed to offset the deflection of the cantilever beam.The SOLIDWORKS simulation results show that the woodworking CNC machining center worktable can realize the motion and linkage with the robot arm to process woodworking parts according to the predetermined design plan.Through Adams virtual simulation,the motion curves of the displacement,velocity and acceleration of each component are obtained.The results shows that the velocity of the worktable is between 0 and 0.6 m/s,the angular velocity is between 0 and 1.7977 rad/s,and the maximum acceleration and angular acceleration are 0.83 m/s2 and 1.5708 rad/s2,respectively,without sudden

关 键 词：工作台设计 运动学分析 ADAMS仿真 电机选型 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]