基于双超越离合器和Sim Mechanics的合作机器人建模及仿真

Modeling and simulation of Cobot based on double over-running clutches and SimMechanics

为了分析合作机器人(Cobot)的动力学性能,根据Cobot的特点和单向超越离合器的特性,建立了基于双超越离合器的不完全约束关节机构的模型和Cobot关节机构的驱动控制模型,并仿真验证了该关节机构的被动约束特性.设计了基于SimMechanics的Cobot轨迹控制的仿真程序,并对Cobot机构的动力学特性进行了仿真研究.仿真结果表明,该Cobot能够跟踪期望轨迹,具有被动的约束特性,满足Cobot与人合作的要求.这种Cobot模型可以应用在外科手术、物料搬运和零件的装配等需要人机合作的场合.

In order to analyze dynamics performances of a collaborative robot （cobot）, modeling of a non-holonomic constraint joint mechanism based on double over-running clutches was completed. Drive control modeling of the cobot＇s joint mechanism was also carried out and simulated to validate its passive and constraint features. Simulation programs of the cobot＇s trajectory control were designed using SimMechanics and showed that the cobot could track the desired path and possessed passive and constraint features. It satisfies the requirements of collaborating with a human operator. The cobot model can be applied in situations such as surgical operations, materials moving or parts assembly and other situations requiring man-machine cooperation.