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
芦泽鹏 1张金柱 1王涛 1姜力2
作者信息
- 1. 太原理工大学机械与运载工程学院,山西太原 030024;先进金属复合材料成形技术与装备教育部工程研究中心,山西太原 030024
- 2. 哈尔滨工业大学机器人技术与系统国家重点实验室,黑龙江哈尔滨 150001
- 折叠
摘要
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.
Abstract
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.
关键词
打捆机器人/折展机构/动力学/关节摩擦力Key words
bundling robot/folding institution/dynamics/joint friction引用本文复制引用
基金项目
国家重点基础研究发展计划(973计划)(2018YFB1308702)
国家自然科学基金(51905367)
国家重点实验室开放基金(SKLRS2020KF17)
山西省应用基础研究计划(201901D211011)
山西省高等学校科技创新计划(2019L0176)
中央地方科技发展指导专项(YDZX20191400002149)
山西省重大专项(20181102016)
出版年
2024
NETL
NSTL
万方数据