清窑机器人机液系统动力学混合建模及其仿真

Hybrid dynamical modeling and simulation of mechanical and hydraulic systems in a tubular kiln liner cleaning robot

清窑机器人动态特性包含组成机器人的液压驱动系统和机械本体系统的动态特性.根据功率键合图的建模方法,按照清窑机器人液压系统的组成和工作原理以及机械系统的结构设计进行混合建模,并得到了机器人系统的功率键合图以及9阶非线性动力学方程组.在建立计算机仿真模型的基础上,通过分析与求解以及Simulink的计算机仿真,得出了机器人系统随负载、关节空间位置变化的加速度、速度和位移仿真曲线,并分析了液压驱动系统和机械系统动态特性对机器人系统动态特性的影响.

Dynamic characteristics of a tubular kiln liner cleaning robot are resulted from its hydraulic driving and mechanical systems. By the mean of power bond graphs, a hybrid model was developed based on components and principles of hydraulic driving and mechanical systems. In this regard, both power bond graphs and ninth-power nonlinear dynamical equations were acquired for this robot system. Upon completion of the computer-based simulation and analysis via SIMULINK TM, the acceleration, velocity and displacement curves of the robot system were obtained with respond to system loads and nodes. Consequently, it is claimed that dynamic characteristics of hydraulic driving and mechanical systems significantly affect the entire robot system.