基于旋量的油罐清洗机器人动力学建模及仿真

Oil Tank Cleaning Robot Dynamics Modeling and Simulation Based on Screw Theory

油罐清洗机器人是特种清洗机器人的一种,对清洗机器动态进行动力学分析和建模是分析运动控制稳定性的基础。为保证操作的稳定性和安全性,根据旋量理论的动力学的分析原理,通过虚拟连杆机构转换成等效的固定基单自由度关节的开链系统,利用螺旋和指数积等数学工具建立动力学方程和雅可比矩阵,推导出整个系统的动力特性。应用Lagrange-d、Alemert原理建立系统的动力学模型,最后,通过ADAMS仿真软件,对机器人系统进行仿真,从而为建立控制策略、控制方法、轨迹规划打下坚实的基础。

The oil tank cleaning robot is a kind of special cleaning robot, and carry on the dynamics analysis and modeling is the basis of motion control. Based on the dynamics of the screw theory of analysis method, through the virtual linkage mechanism of fixed and convert equivalent single - degree - of - freedom joint open chain system, and with the spiral and exponential product of mathematical tools, the dynamic equation and jacobian matrix were built and the kinetic energy of the whole system was deduced. Lagrange -d and Alemert principle were applied to establish the system dynamic model. Finally, through the ADAMS simulation software, the robot system and simulation were carried out to establish the control strategy, control method, trajectory planning.