摘要
针对行星探测车采样机械臂开发效率低及成本高的问题,采用虚拟样机技术,对探测车采样机械臂的结构、功能、功耗及控制系统等方面进行了研究,提出了一种轻量化、低功耗、多功能四自由度采样机械臂的设计方案,确定了各关节的驱动方案,并对驱动部件进行选型。基于SolidWorks软件,实现三维模型的建立,并利用ADAMS软件,建立采样机械臂动力学模型。应用D-H法建立采样机械臂关节坐标并确定连杆参数,求解正、逆运动学公式,采用三次多项式方法对关节空间进行轨迹规划。利用ADAMS和Matlab搭建虚拟样机联合仿真系统,进行联合仿真实验。仿真结果表明,该采样机械臂设计方案合理,达到轻量化、低功耗目的,控制系统稳定可靠,能够实现支起、收回、采样等功能。
Aiming at the problem of efficiency and cost in developing sampling manipulator of planetary rover,virtual prototyping technology was used to research its mechanical structure,function,power consumption and control systems.A4DOF sampling manipulator design was proposed which was lightweight,low-power consumption and multifunctional.Each of joint driveing program was determined and driven parts were selected.3D model was built in SolidWorks and dynamic model was established in ADAMS.The coordinate systems of sampling manipulator were established and its link parameters were determined by using D-H method.Besides,forward and inverse formulas were built and the cubic polynomial algorithm was used for jiont trajectory planning.The co-simulation system was established through the Matlab and Adams and it was successfully implemented.The simulation results indicate that the design of samping manipulator is reasonal which meets the purposes of lightweight and low power consumption and its control system is stable and reliable which can achieve supporting,recovering and sampling function.
出处
《机电工程》
CAS
2014年第10期1301-1305,共5页
Journal of Mechanical & Electrical Engineering
基金
江苏科技大学研究生创新基金资助项目(YCX13S-10)
关键词
采样机械臂
多功能
轻量化
虚拟样机
联合仿真
sampling mechanical arm
multifunction
lightweight
virtual prototype
co-simulation
