码垛机器人的动力学仿真分析

Dynamic Simulation Analysis of Palletizing Robot

码垛机器人一般具有弹簧类结构辅助机器人做功,其独特的平行四边形结构,受力情况复杂,在码垛机器人结构设计过程中,难以进行电机、减速机的合理选型和校核。为得到设计前期电机、减速机输出精确值,通过SolidWorks软件建立码垛机器人实体模型,将模型导入到动力学仿真软件Adams中,通过设定参数得到减速机负载转矩曲线,然后理论计算转化电机的输出转矩,最后采用机器人本体、电控柜、数据采集装置等,对仿真过程进行试验验证,测试电机实际转矩电流反馈值,得到电机真实的转矩输出情况。对比分析仿真结果与实际数据电机转矩,机器人4个轴误差分别为8%、4.9%、10.3%和3.3%,证明了码垛机器人动力学仿真是可靠的,可用于实际工程中,为码垛机器人设计提供了重要的指导意义。

Generally,the palletizing robots generally have spring structure to assist the robot to do work.With its unique parallelogram structure,the force is complicated such that in the process of palletizing robot structure design,it is difficult to make the reasonable selection and verification of the motor and reducer.In order to obtain the accurate output value of motor and reducer in the early stage of design,The solid model of palletizing robot was established through SolidWorks.The model was imported into dynamics simulation software ADAMS,and through parameters setup the load torque curve of reducer was obtained,and then the output torque of motor was theoretically calculated and transformed.The robot body itself,electric control cabinet,data acquisition device and the like were used to get the simulation process test validated,and to test the actual torque and current feedback value of the motor to withdraw the real scenarios of Motor torque output.The robot body,electric control cabinet and data acquisition device were used to verify the simulation process,test the actual torque and current feedback value of the motor,and get the real torque output of the motor.By comparing the simulation results with the actual data,the motor torque errors of the motor four axis are 8%,4.9%,10.3% and 3.3% respectively,which indicates that the dynamic simulation of the palletizing robot is reliable and can be used in practical engineering as a significant guidance for the design of the palletizing robot.