柔性关节机器人动力学分析

Dynamic Analysis of Flexible Joint Robot

近年来,工业机器人以其机动、灵巧等特点,开始应用于越来越多的领域。但串联机器人刚度较差,使得其应用场景受到了一定的限制。采用拉格朗日法,建立了考虑关节柔性的机器人动力学模型,并规划了机器人运动轨迹。建立了Simulink仿真模型,得出了机器人各关节角度在指定运动情况下的关节变形情况,并分析了机器人末端振动情况。

In recent years, industrial robots have begun to be used in more and more fields with their characteristics of mobility and dexterity. however, the stiffness of the tandem robot is relatively poor, making its application scenario subject to certain limitations. in this paper, a robot dynamics model considering joint flexibility is established using Lagrangian method, and robot trajectory is planned. A Simulink simulation model was established, and the joint deformation of each joint angle of the robot under the specified motion was obtained, and the vibration at the end of the robot was analyzed.