太阳能电池自动布贴机器人动力学分析与仿真

Dynamic analysis and simulation of automatic arrangement and adherence robot for solar cell

对空间太阳能电池片自动布贴机器人的大尺寸机构系统进行了深入研究,考虑关节运动为全约束运动,利用Eu ler变换法和Lagrange方程对机器人的两个主要运动系统导向定位系统和布贴系统进行了运动学和动力学建模分析,导出了描述两运动系统的雅可比矩阵以及显示形式的动力学方程,通过仿真证明了数学模型的正确性,为进一步研究该机器人的运动控制和轨迹规划问题打下了基础.

Research on the mechanical system of automatic arrangement and adherence robot for solar cell has been done. Because of the full restriction, Euler transformation and Lagrangian equation can be employed to do kinematic and dynamic modeling and analysis on two main systems, orientation system and .arrangement system. Jacobian matrix and dynamics equation of the two systems have been obtained. Simulation has verified the preciseness of the mathematic model, which is the basis of the research on movement control and track layout of the robot.