基于刚柔耦合模型的重载搬运机器人动力学仿真分析与结构优化

Dynamic simulation and structural optimization of heavy-load transfer robot based on rigid-flexible coupling simulation model

为准确分析重载搬运机器人结构设计的优劣,基于多体动力学软件ADAMS建立了重载搬运机器人的刚柔耦合多体动力学模型。由此模型对重载搬运机器人进行了重载搬运典型工况下的动力学仿真,分析了不同电动机控制方法的优劣,以及重载搬运机器人在动作过程中的振动偏移情况。根据分析结果对重载搬运机器人结构进行了改进优化,并结合优化后刚柔耦合模型的动力学仿真验证了结构优化的有效性。所应用的建模及分析方法简便可靠,提高了工作效率,具有一定的工程实用价值。

In order to accurately analyze the advantages and disadvantages of the structure design of heavy-load transfer robot, the rigid-flexible coupling multi-body model of heavy-load transfer robot for performance analysis is built up with ADAMS. The dy- namic simulation under typical working conditions of heavy load transportation of heavy-load transfer robot is carried out based on the model, the advantages and disadvantages of different kinds of motor control methods are analyzed, and the vibration displace- ment of heavy load transfer robot is analyzed. The structure of heavy-load transfer robot is optimized by the analysis results, and the validity of the structure optimization is verified by the dynamic simulation of heavy-load transfer robot＇ s rigid-flexible coupling model. The applied modeling and analysis method is simple and reliable, which can improve the work efficiency, and has a certain engineering practical value.