考虑关节摩擦力的打捆机构动力学建模

Dynamics modeling of bundling mechanism with joint friction taken into account

为了减小钢铁生产的能量消耗,文中提出了一种基于折展机构的打捆机器人以降低打捆作业能耗。首先,基于棒材打捆轨迹设计了一种新型的打捆机器人,分别建立了打捆机构的位置正反解模型,并通过算例对其进行验证;基于牛顿-欧拉法对打捆机构各组成单元进行动力学分析,建立了整个打捆机构考虑关节摩擦力的动力学模型;采用AD⁃AMS软件对打捆机构进行动力学仿真。理论和仿真结果表明:在考虑关节摩擦的情况下驱动力的差值明显大于理想状况,揭示了实际打捆工序中考虑摩擦力的必要性。所建立的动力学模型可为整个机构的能耗优化设计提供了理论基础。

In this article,in order to reduce energy consumption of steel production,a bundling robot based on the folding mechanism is proposed to cut down energy consumption of bundling operation.Firstly,a new bundling robot is designed according to the trajectory of bar bundling.The forward and inverse position models of the bundling mechanism are set up and verified through a series of examples.Based on the Newton Euler method,the dynamics analysis is carried out on the bundling mecha⁃nism’s each component,and the dynamics model of the whole mechanism is worked out with the joint friction taken into account.Besides,ADAMS is used to simulate the dynamics of the bundling mechanism.The theoretical and simulation results show that the error of the driving force is obvious when the joint friction is taken into account,which reveals that it is necessary to apply the friction into the actual bundling process.This dynamics model provides theoretical basis for the energy⁃consumption optimization design of the whole mechanism.