摘要
由于机器人在运行过程中受到诸多因素影响,使其动态性能不稳定,严重影响了机器人的可靠性和安全性。以直角坐标机器人为研究对象,基于多体系统动力学理论得到直角坐标机器人刚柔耦合动力学方程。应用ANSYS和ADAMS软件建立直角坐标机器人刚柔耦合模型,进行不同工作速度和不同负载下的动力学仿真分析。分析可知,在同样增大4倍的情况下,工作速度的变化比末端负载的变化对直角坐标机器人末端动态性能的影响更明显。
The robot is affected by many factors in the process of operation so that the dynamic performance is not stable,directly affecting the reliability and safety of the robots.It takes Cartesian robot as the object to study,obtaining the dynamic equation of rigid-flexible coupling based on the theory of multibody system dynamic.The rigid flexible coupling model of robot is established by combining ANSYS and ADAMS software,to carry out the dynamic simulation analysis under different working speed and load.By analyzing,in the same case of increasing four times,the change of working speeds is more obvious than the change of ending load to the dynamic performance of robot end.
作者
陈骏
陈威
CHEN Jun;CHEN Wei(Anhui Micro Bo Changan Electronics Corportion, Lu＇an 237010, China)
出处
《新技术新工艺》
2018年第1期32-34,共3页
New Technology & New Process
