三自由度打磨机器人运动及动力学分析  

Kinematics and Dynamic Analysis of Three Degree of Freedom Grinding Robot

作　　者：张进思 许棕 鲍惠芳 方杰 ZHANG Jinsi;XU Zong;BAO Huifang;FANG Jie(College of Electrical and Photoelectronic Engineering,West Anhui University,Lu'an 237012,China)

机构地区：[1]皖西学院电气与光电工程学院,安徽六安237012

出　　处：《皖西学院学报》2024年第5期115-121,共7页Journal of West Anhui University

基　　金：国家自然科学基金资助项目(11905146);安徽省教育厅自然重点项目(2022AH051675);皖西学院科研启动资金项目(WGKQ2020010005)。

摘　　要：基于新设计的空间三自由度串联打磨机器人开展运动学和动力学分析。此串联机器人的机构由三个机械臂及旋转关节组成,且通过改进版D-H建模法和拉格朗日方程推导出该串联打磨机器人的运动学及动力学方程,并简单分析此机器人的运动学及动力学特性,并结合仿真软件ADAMS及Scilab来仿真该串联打磨机器人运动学和动力学的特点,结果表明理论与仿真结果相一致,验证了该机器人的运动学及动力学的正确性。本文的研究结果将对进一步分析该串联打磨机器人的动态特性、机构优化以及控制系统设计等实际工作具有重要意义。This paper mainly focuses on kinematic and dynamic analysis based on a newly designed spatial three degree of freedom serial Grinding robot.The mechanism of this serial robot consists of three mechanical arms and rotating joints.The kinematic and dynamic equations of the serial polishing robot are derived through an improved version of the D-H modeling method and Lagrange equation.The kinematic and dynamic characteristics of the robot are briefly analyzed,and the simulation software ADAMS and Scilab are used to simulate the kinematic and dynamic characteristics of the serial polishing robot.The results show that the theory is consistent with the simulation results,verifying the correctness of the robot s kinematics and dynamics.The research results of this article will be of great significance for further analysis of the dynamic characteristics,mechanism optimization,and control system design of the series polishing robot in practical work.

关 键 词：串联打磨机器人 运动学 动力学 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]