摘要
针对广泛应用于高速抓放操作的Delta并联机器人,提出了一种基于拉格朗日乘子法的刚体动力学建模方法,并利用约束方程的全微分求解出了动力学模型的显示表达式。建立了机器人的逆运动学以及刚体动力学模型,考虑机器人从动臂臂杆为轻质碳纤维杆,两端为较重的金属附件的特点,建立了简化刚体动力学模型。并针对机器人常用的高速抓放轨迹进行仿真,将简化前后的2种动力学模型与ADAMS仿真结果进行对比。
Targeting a Delta parallel robot which is widely used for high speed pick - and - place operation, a novel approximation for simpli- fied rigid body dynamic model based on Lagrangian multiplier method is established. Both of the in- verse kinematic and rigid dynamic model are devel- oped, and the dynamic model is simplified consid- ering the actual situation of the robot. Comparing the calculation results of the dynamic model before and after the simplification with the simulation re- sults show that the simplified rigid model can not only reduce the amount of calculation but also im-prove the accuracy of it.
出处
《机械与电子》
2015年第7期68-72,76,共6页
Machinery & Electronics
基金
国家高技术研究发展计划(863)资助项目(2013AA040901)
黑龙江省科研机构创新能力提升专项计划项目(YC13D004)
关键词
并联机器人
拉格朗日乘子法
简化刚体动力学模型
逆运动学模型
parallel robot
Lagrangian multiplier method
simplified rigid body dynamic model
inverse kinematic model
