摘要
SCARA机器人具有4个自由度,具有较复杂的运动空间,某时刻的位姿和速度会对各关节所需要的驱动力矩产生较大的影响,且各部件运动相互影响,直接求解各关节的峰值力矩是比较困难的。本研究在C ATIA中建立了机器人的装配模型,导入A DAMS中建立了S CARA机器人的三维仿真模型,对各运动副施加相应约束,将各轴最大运动速度作为设计变量,通过指定的速度曲线驱动各轴运动,在机器人可能的惯性空间范围内搜索,获得了各驱动轴的峰值力矩,实现了该机器人电机的合理选型。本研究对机器人设计有借鉴意义。
With four degree-freedom,SCARA robot has more complex motion space,so the pose and velocity at a certain moment may have great impact on the required driving torque of each joint; what’s more,the motion of each component has interactions,so it is difficult to acquire direct solution to peak torque of each joint.In this study,assembly model of robot has been established in CATIA,and three-dimensional simulation model of SCARA robot has been set up in the introduction of ADAMS.Constraints have been applied to the kinematic pair,and the maximum velocity of each axis has been taken as design variables,so as to drive each axis motion with specified velocity curve.Through searching in inertial space range of motor,the peak torque of each axle shaft can be acquired and the reasonable selection of the robot motor can be achieved.This study offers some reference for the robot design.
出处
《洛阳理工学院学报（自然科学版）》
2013年第4期29-33,共5页
Journal of Luoyang Institute of Science and Technology：Natural Science Edition
基金
国家863计划课题(2012AA03A206)
