食品分拣机器人动力学仿真

Dynamics simulation of food sorting robot

针对六自由度关节式食品分拣机器人的结构特点,运用拉格朗日法对所设计的机器人进行动力学分析。建立机器人的虚拟样机模型,并在ADAMS中对其进行刚体动力学仿真,得到各关节角度、角速度、角加速度、力矩以及功率曲线,发现该机器人具有较好的运动稳定性以及动态响应性,可为电机选型提供理论依据。采用SimDesigner,对所设计的机器人进行刚柔耦合动力学仿真,结果表明机械臂设计合理,可为食品分拣机器人的设计与改进提供指导。

According to the structural features of food sorting robots with six degrees of freedom,kinetic theory analysis was carried out by using Lagrange approach.Virtual prototype modeling was established,and the curves of angle,angular velocity,angular acceleration,moment and power were obtained by rigid body dynamics simulation within ADAMS.The results showed that the robot had a good motion stability and dynamic response,which in addition provide a theoretical basis for motor selection.Coupled dynamics simulation was also carried out by SimDesigner,which demonstrates the rationality of the manipulate design.