一种新的机器人动力学仿真分析方法

The dynamics simulation analysis of a four DOF manipulator

介绍了一种新研制的4自由度机器人,利用Proe软件建立了机器人的三维模型,得到了用于动力学计算的有关质量属性,借助于Matlab软件的SimMechanics仿真工具箱分析得到了该机器人跟踪圆形轨迹时的关节力矩响应。进而利用三次样条插值的方法,得到了时间——力矩函数关系式,为以力矩补偿为前馈的控制模式提供了简便的数学模型。

A new 4DOF robot is introduced, three-dimensional model of the robot is established in Proe through which the relevant mass properties are obtained for the calculation of dynamics, the joint torque of the robot when tracking a circle trajectory is obtained in the SimMechanics module of Matlab software.Then cubic spline interpolation is used to derive the time-torque function of the motion process, thus provide a simple mathematic model for the robot control which applies the torque compensation feedforword .