摘要
针对七自由度冗余机械臂动力学建模正确性及动力学仿真问题,首先,基于Solid-Works建立七自由度冗余机械臂模型,采用牛顿-欧拉法建立机械臂动力学模型.然后,给定实际工况下的角速度并将机械臂模型导入ADAMS中,进行动力学仿真,得到机械臂各关节力矩随时间变化的曲线.最后,从动力学仿真轨迹中取一组瞬态关节角,将其角速度和角加速度带入动力学方程求出各关节力矩,对比理论计算与仿真结果并根据曲线分析机械臂动力学特性.仿真结果验证了动力学建模的正确性,同时得出机械臂运动时各关节力矩存在耦合影响,为机械臂的后续控制研究和轨迹规划提供了试验基础.
Aiming at the dynamics problem of the 7-DOF redundant manipulator,first,a 7-DOF redundant manipulator model was established based on Solid Works,and the Newton-Euler method was used to establish the dynamic model of the manipulator.Then,given the angular velocity under actual working conditions and importing the robotic arm model into ADAMS,the dynamic simulation was performed to obtain the curve of the moment of each joint of the manipulator over time.Finally,a set of transient joint angles is taken from the dynamic simulation trajectory,and the angular velocity and angular acceleration are taken into the dynamic equation to obtain the joint torques.The theoretical calculations and simulation results are compared,and the dynamic characteristics of the manipulator are analyzed according to the curves.The simulation results verify the correctness of the dynamics modeling.At the same time,it is concluded that there is a coupling effect of the joint torques during the movement of the manipulator,which provides a test basis for the subsequent control research and trajectory planning of the manipulator.
作者
李宪华
刘壮壮
代桂徽
葛少朋
LI Xianhua;LIU Zhuangzhuang;DAI Guihui;GE Shaopeng(School of Mechanical Engineering,Anhui University of Science and Technology,Huainan Anhui 232001,China)
出处
《安徽理工大学学报（自然科学版）》
CAS
2020年第4期55-59,共5页
Journal of Anhui University of Science and Technology:Natural Science
基金
安徽高校自然科学研究基金资助项目(KJ2016A200)。
