摘要
针对五自由度平行四边形机构机械手的动力学问题,基于拉格朗日动力学和平行四边形机构特点建立了机械手的动力学模型,对有效惯量、耦合惯量、向心加速度、科氏加速度和重力项对其动力学性能的影响进行了分析,提出了一种通过优化机构参数来提高其动力学性能的途径。利用UG软件建立了机械手的三维实体模型并导入到ADAMS中,对工作节拍对机械手工作效率及其稳定行的影响进行了动力学仿真测试。研究结果表明,优化机械手机构参数可以提高其动力学性能,减小非线性力对其动力学性能的影响,动力学仿真分析验证了其动力学模型的正确性,准确地反映了在工作节拍缩短的情况下各关节驱动力矩的变化规律,为机械手控制系统的设计与优化奠定了基础。
Aiming at the dynamics analysis of the 5-DOF parallelogram mechanism manipulator,a dynamic model of the manipulator was established with the Lagrangian dynamics and the feature of the parallelogram mechanism.The effect of the effective inertia,coupling inertia,centripetal acceleration,coriolis acceleration and gravity to its dynamics performance were analyzed.A method to improve its dynamics performance was carried out.The dynamics simulation of the manipulator model which was established by UG was analyzed with the ADAMS.The effect of the tempo of the manipulator working to its efficiency and stability was texted.The results indicate that by optimizing the organization can improve its dynamic performance and reduce the impact of nonlinear force,the simulation verifies the correctness of its dynamics model and reflects the variation of joint driving torque clearly.It lays the foundation for the design and optimization of manipulator control system.
出处
《机电工程》
CAS
2014年第10期1274-1277,1286,共5页
Journal of Mechanical & Electrical Engineering
