柔性关节机械臂动态响应仿真

Dynamic Response Simulation of Flexible Joint Manipulator

针对柔性关节机械臂结构特点,运用拉格朗日、平行轴定理以及惯性张量旋转变换方法完成了机械臂基础建模;利用建模软件,在SolidWorks上构建了机械手臂三维建模,运用仿真模拟软件对6自由度的机械手臂进行模拟,获取了各关节的动力学特征曲线,并进行了数据分析;最后,仿真分析末端负载质量对关节转角的影响。研究表明:因为关节柔性的存在,驱动力矩在启动阶段发生波动,其中肩肘关节驱动力矩数值和波动程度较大,而大的末端负载会引起更大的转角误差。

According to the structural characteristics of flexible joint manipulator,the basic modeling of the manipulator was completed by using Lagrange,parallel axis theorem and inertia tensor rotation transformation method.Modeling software was used to build the 3D modeling of the mechanical arm on SolidWorks,and the simulation software was used to simulate the 6-DOF mechanical arm,and the dynamic characteristic curves of each joint were obtained and the data were analyzed.Finally,the influence of load mass on joint angle was analyzed.The results show that the driving torque fluctuates at the starting stage because of the flexibility of the joint,and the driving torque of shoulder and elbow joint fluctuates greatly,and the larger end load causes larger angular error.