基于ADAMS多关节串联工业机器人动力学分析研究
Dynamic Analysis of Multi Joint Serial Industrial Robots Based on ADAMS
杨文1
作者信息
- 1. 湖南信息职业技术学院电子工程学院,湖南 长沙 410200
- 折叠
摘要
针对多关节工业机器人动力学问题,给出了机器人雅可比矩阵的表达形式和基于拉格朗日方法的机器人动力学方程.利用Solid Works三维建模软件建立了某型号工业机器人的三维装配模型,并将其导入ADAMS软件进行了动力学仿真分析,得到了机器人末端执行器在给定恶劣工况下运动时各关节的角度、角速度和角加速度变化曲线,结果表明各关节运动特性与实际应用相符合.同时,给出了各关节承受的力和力矩在运动过程中的变化曲线,仿真结果与机器人关节的实际受力状况相符合,可为机器人各关节驱动电机选型和关节强度校核提供理论依据.
Abstract
For the dynamic problem of multi joint industrial robots,the expression form of robot Jacobian matrix and the robot dynamic equation based on Lagrange method are provided.A 3D assembly model of a certain type of industrial robot was established using Solid Works modeling software,and the assembly model was imported into ADAMS software for dynamic simulation analysis.The angle,angular velocity,and angular acceleration variation curves of each joint when the robot end-effector moves under a given harsh working condition are obtained.The motion characteristics of each joint are consistent with practical applications.The variation curves of the forces and torques acting on each joint during motion are provided,and the simulation results are consistent with the actual force conditions of the robot joints.The research results of this paper provide a theoretical basis for the selection of driving motors for various joints of robots and the verification of joint strength.
关键词
工业机器人/动力学/ADAMS/力矩Key words
industrial robots/dynamics/ADAMS/torque引用本文复制引用
出版年
2024
NETL
NSTL
万方数据