摘要
针对码垛机器人的空间运动学和动力学特点,提出了基于平行4边形机构运动原理构建关节回转型4自由度码垛机器人的一种设计方法。根据D-H法建立关节回转型4自由度机器人运动学方程,解出运动学方程的反解;采用牛顿-欧拉递推法推导机器人的动力学方程,利用MATLAB计算出驱动力矩;将模型导入ADAMS软件中,对该机构进行动力学仿真;通过仿真结果与理论计算值的对比,验证了该设计方法的正确性,为机器人的控制和选择合适的驱动系统提供了有效的依据。
In order to meet the characteristics of space kine- matics and dynamics of stacking robot, this paper created a method of taking advantage of parallelogram principle design of a 4 DOF stacking robot of rotary type joints. A series of kinematics equations were built according to the D-H method and the inverse solution of kinematics equations were given. Dynamics equations were derived with application of Newton-Euler method. MATLAB was used to calculate the driving torques. Finally, the dynamics simulation of the robot was given according to ADAMS. The correctness of design method is verified through comparing the results of simulation with calculation. It provides an effective basis for robot control and the appropriate drive systems.
出处
《机械设计》
CSCD
北大核心
2013年第10期16-20,共5页
Journal of Machine Design
基金
安徽省自然科学基金资助项目(11040606M108)
中国科学院新兴战略产业资助项目
中国科学院院长基金火花资助项目
关键词
关节式
平行四边形原理
运动学分析
动力学仿真
joint type
parallelogram principle
kinematics a-nalysis
dynamics simulation
