基于NX MCD的搬运工业机器人运动仿真设计及分析
Movement Simulation Design and Analysis of Handling Industrial Robot Based on NX MCD
杨涛 1杨晓华 1欧彦江 1黄雅迪1
作者信息
- 1. 成都工贸职业技术学院/成都市技师学院,四川 成都 611731
- 折叠
摘要
针对工业机器人运动控制算法复杂,在数字孪生应用中难仿真的问题,利用NX MCD机电一体化概念设计中的反算机构功能,设计搬运工业机器人的运动仿真.基于工业机器人运动原理,定义各轴几何体为对应材料的物理模型,并设置物理模型的运动副及限位,添加位置控制器;以实现搬运工作为目的,利用反算机构,确定工业机器人各轴的运动矢量,规划机器人的运动轨迹;最后,在机器人末端执行器运动路径的目标点上添加控制信号,实现工业机器人搬运运动仿真.实验结果表明:反算机构实现机器人运动仿真简便、稳定、易掌握,为工业机器人在数字孪生中运动控制仿真提供了便利.
Abstract
In view of the problem that the motion control algorithm of industrial robots is complex and difficult to simu-late in the application of digital twin,the motion simulation of handling industrial robots is designed by using the function of the reverse calculation mechanism in the conceptual design of NX MCD mechatronics.Based on the motion principle of in-dustrial robot,define the geometry of each axis as the physical model of the corresponding material,set the motion pair and limit of the physical model,and add the position controller to determine the motion vector of the robot and plan the motion trajectory of the robot.Finally,the control signal is added to the target point of the robot actuator to realize the simulation of industrial robot handling.The experimental results show that the robot motion simulation realized by the reverse calculation mechanism is simple,stable and easy to master.
关键词
工业机器人/反算机构/数字孪生/运动控制Key words
industrial robot/reverse calculation mechanism/digital twin/motion control引用本文复制引用
出版年
2024
NETL
NSTL
万方数据