球磨机滚筒螺母拧紧机机械臂运动学仿真与分析  

Kinematics Simulation and Analysis of Ball Mill Drum Nut Tightening Machine Arm

作　　者：鄯辰泽 Shan Chenze(North China University of Science and Technology,Langfang Hebei 065201,China)

机构地区：[1]华北科技学院,河北廊坊065201

出　　处：《机械管理开发》2024年第11期15-17,21,共4页Mechanical Management and Development

摘　　要：首先对球磨机滚筒螺母拧紧机的结构和功能进行了阐述,随后对采用D-H坐标系法对拧紧机机械臂完成运动学建模并完成正运动学分析和逆运动学分析。最后在MATLAB Simulink中实现机械臂的三维建模和运动学仿真,得出了机械臂运动过程中各关节的运动特性,证明机械臂运行平稳。对今后进行动力学分析和控制系统研究具有重大意义。Firstly,the structure and function of the nut tightening machine of ball mill were described.Then,the kinematics modeling of the screw arm of the screw tightening machine was completed by using D-H coordinate system and the forward kinematics analysis and inverse kinematics analysis were completed.Finally,the 3D modeling and kinematics simulation of the robot arm were realized in MATLAB Simulink,and the motion characteristics of each joint during the movement of the robot arm were obtained,which proved that the robot arm ran smoothly.It is of great significance to conduct dynamic analysis and control system research in the future.

关 键 词：球磨机 拧紧机机械臂 运动学分析 SIMULINK 运动学仿真 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]