摘要
运用软件Pro/e建立了某工业机械手的三维模型,设定机械手构件参数如杆长和转角等,再用Joseph-Louis Lagrange法建立机械手的动力学方程。按照仿真流程在软件Adams中对机械手进行动力学仿真,得到机械手各个关节的角度曲线、角速度曲线和角加速度曲线,以及大臂旋转关节各个方向的力矩曲线。最后再利用软件Matlab对机械手动力学方程进行求解并生成各个方向的力矩曲线,经与Adams仿真曲线和力矩值进行对比,发现两者力矩曲线走势相近,且力矩值偏差甚小,最大时仅为7.5 N·m,在合理范围内,从而验证了Adams动力学仿真的准确性。
A 3D model of manipulator applied for industry is built by Pro/e software,and its structure parameters such as rod length and torsional angle are set,then the dynamics model equation is established by Joseph-Louis Lagrange. Dynamics simulation is carried out by Adams software according to simulation flow in order to finaly get angle curves,angular velocity curves and angular acceleration curves of each manipulator joint and the large rotation joint torque curves of the manipulator. The manipulator dynamics equation is solved by using matlab software,which generates torque curves in all directions. It is found that the trend of torque curves is almost same and deviation can be neglected and reasonable,which verifies the correctness of the dynamics simulation.
出处
《装备制造技术》
2017年第5期12-15,25,共5页
Equipment Manufacturing Technology
关键词
机械手
动力学
力矩
仿真分析
manipulator
dynamics
torque
simulation analysis
