摘要
针对七自由度机器人结构特点,以拉格朗日法为理论基础建立了机器人动力学方程,并对机器人进行了动力学分析。基于ADAMS仿真软件构建机器人虚拟样机模型,对七自由度机器人进行了动力学仿真,获得了各个关节驱动力矩的函数曲线,验证了模型设计的合理性。基于MATLAB软件对动力学模型进行数值分析,绘出其力矩曲线,并与ADAMS仿真曲线进行对比,验证理论计算的正确性。为机构设计提供数据和结构方面的参考,为进一步研发7自由度机器人设备提供可靠有力的依据。
According to the structure and motion features of 7-DOF robots, dynamie analysis and simulation were conducted. The dynamic equation of the robot was built on Lagrangian method. A virtual prototyping model of robot was established and a function curve of the driving torque of each joint was plotted based on ADAMS, which verified the reasonableness of the model design. The present researchers conducted a numerical analysis of the kinetic model based on MATLAB, plotted its torque curve and compared the curves with the theoretical calculations of ADAMS sim- ulation to verify the correctness. The present research laid a foundation for the design of the physical prototype, which provides data of the institutional design, reference of structure, and a powerful and reliable basis for further research and development of the 7 degrees of freedom robot equipment.
出处
《北京石油化工学院学报》
2013年第2期39-44,共6页
Journal of Beijing Institute of Petrochemical Technology
