基于凯恩方法的6R机器人动力学建模与仿真

Dynamic Modeling and Simulation of 6R Serial Robots Based on Kane Method

6R串联机器人为非线性输入输出多杆耦合的位置时变动力学系统,用凯恩方法建立了机器人力学方程,在Sim Mechanics环境下进行计算机辅助建模,并相互验证和分析了两种模型的正确性。为机器人机构设计、关节驱动、传动方案选取、操作机的实时控制、前馈补偿以及伺服系统增益控制提供了理论依据。

Dynamic systems of 6R serial robot is a non-linear input / output location of rod coupling time-varying. The Kane method is used to derivate the dynamics equation of the six-freedom jointed-arm robot. A computer-aided methods for dynamic modeling was carried out in Sim Mechanics environment. The two methods were each other verified the sufficient validaton. The theoretical basis for the design of the robot mechanism,joint drive,transmission scheme selection,operation machine real-time control,feedforward compensation and gain control of servo system is provided.