摘要
铣削机器人末端刀具动力的实时控制是保证铣削精度和表面质量的前提,运用牛顿-欧拉递推法对工业铣削机器人进行动力学分析,建立动力学模型,并采用三维建模软件Solid Works及动力学分析软件MATLAB联合建立动力学仿真模型,进行动力学仿真,得到了关节运动参数曲线图,仿真结果与理论计算结果一致,证明了理论推导的正确性及仿真模型建立的准确性。
Real-time control of milling robot end cutting tool dynamics was the premise to ensure the milling accuracy and surface quality. The dynamics analysis was performed on the industrial milling robot using Newton-Euler recursive method. The dynamics simulation model was established using the three-dimensional modeling software Solid Works and dynamics analysis software MATLAB. The dynamics simulation was performed to obtain the parameter curves of articular movement. The simulation results were consistent with the theoretical results. The correctness of theoretical deduction and the correctness of simulation modeling were proved.
出处
《机械设计》
CSCD
北大核心
2016年第12期27-30,共4页
Journal of Machine Design
基金
河北省自然科学基金资助项目(E2016203321)
