| 摘要: |
| 目的 以码垛机器人为例， 探讨刚柔耦合系统的运动学、 动力学仿真分析方法， 分析杆件弹性变形对机器人末端运动精度的影响。方法 利用Matlab/Robotics 工具箱编程， 对码垛机器人进行运动学仿真， 获取各关节角位移曲线； 利用ADMAS建立虚拟样机， 对码垛机器人进行动力学仿真； 同时， 利用Ansys对机械臂等杆件进行柔性化处理， 生成mnf中性文件， 导入ADAMS中建立刚柔耦合模型进行仿真分析。结果 得出了码垛机器人在高速重载运动过程中机械手末端的位移偏差曲线， 以及各关节的驱动扭矩。结论 刚柔耦合分析方法更加直观、 准确地模拟了机器人的实际工作状况， 提高了在动载荷作用下对零部件动态响应分析的准确性， 为码垛机器人的设计优化及驱动选型分析提供了理论依据。 |
| 关键词: 码垛机器人 Robotics toolbox 有限元分析 刚柔耦合 动态特性 |
| DOI： |
| 分类号:TB486+.01 |
| 基金项目:四川省应用基础计划 （2011JY0028） |
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| Rigid-flexible Coupling Dynamics Simulation Analysis of Palletizing Robot |
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XIONG Chu-liang, HUANG Song-he, ZHU Peng-fei
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Southwest Jiaotong University， Chengdu 610031， China
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| Abstract: |
| With a palletizing robot as an example, the paper focused on the method of kinematics and dynamics simulation analysis of the rigid-flexible coupling palletizing robot system, and the analysis on the impact of the rod elastic deformation on the motion accuracy of the robot end effector. Matlab/Robotcis toolbox was used to program and perform kinematics simulation for the palletizing robot, getting the angular displacement curves of the joints. A virtual prototype of the palletizing robot was created by ADAMS, and dynamics simulation was conducted. Meanwhile, the MNF neutral file was generated by flexible treatment of the arm rods in Ansys, and was then imported into ADAMS to build the rigid-flexible coupling model to conduct simulation analysis. As a result, the displacement deviation curve of the robot end-effector when the palletizing robot moved under loads was drawn and the driving torque of each joint was obtained. In conclusion, the analysis method of rigid-flexible coupling was more intuitive and accurate to simulate the actual working condition of the robot, and could improve the accuracy of dynamic response analysis of parts under dynamic loading. Thus, this could provide a theoretical basis for the optimization design and driver selection of the palletizing robot. |
| Key words: palletizing robot Robotics toolbox FEM rigid-flexible coupling dynamic characteristic |
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