一种冗余机械臂的轨迹跟踪联合仿真研究

Research on Redundant Manipulator by Coordinated Simulation Method

冗余机械臂作为一种复杂的机电系统,其精确传递函数和动力学模型难以建立,为进行精确轨迹跟踪及动力学分析造成障碍。为代替实际的物理样机进行产品的性能测试,缩短物理样机的开发周期,提高设计质量和效率,利用Matlab与ADAMS对机械臂搬运器件作业进行轨迹跟踪联合仿真研究。仿真结果表明,所设计机械臂具有良好的轨迹跟踪能力;在实现轨迹精确跟踪的同时,联合仿真算法得到的轨迹具有更好的加速度及力矩控制效果,提高了机械臂搬运作业的运动平滑性,所得数据可供工程应用。

As a complicated mechanical and electrical system, redundant manipulator＇ s accurate transfer function and dy- namics model can＇ t be set up easily, which obstructs the research on precise track following and dynamic analysis. In or- der to demonstrate nice track-following ability of the designed manipulator before the physical one is built, as well as en- hancing operation stability, a coordinated simulation method by ADAMS and Matlab is introduced. The results show that, the redundant manipulator can exactly follow the given track. Meanwhile, the coordinated simulation obtains nicer acceleration and torque control effect, thus improving motion stability. The data can be used in engineering application.