摘要
在Ansys Workbench和Matlab的环境下,以ABB IRB-2600型机器人为例对六自由度关节机器人进行多连杆机构综合仿真分析。根据静力学、运动学和动力学三个方面的分析得到了静态负载下机器人指定部位的变形和应力结果,工作运行中机器人关节的运动特性曲线以及动态特性曲线。通过深入分析,验证了仿真模型的正确性以及该工业机器人设计参数的合理性。仿真结果对于现有的六自由度关节型机器人具有一定普适性,为设计人员提供一个具有参考价值和实际应用意义的研究视角。
Based on Anysys Workbench and Matlab using ABB IRB-2600 robot as an example of 6-DOF multi-joint robots to implement comprehensive simulation analysis of multi link mechanism.According to the analysis of statics,kinematics and dynamics,the deformation and stress results of the designated part of the robot under static load,the motion characteristic curves of the robot joints and the dynamic characteristic curves in the operation of the robot were obtained.Through in-depth analysis,the correctness of the simulation model and the rationality of the design parameters for the industrial robots were verified.The simulation results have some universalities for the existing 6-DOF articulated robots,which provide a research perspective with reference value and practical application significance for designers.
作者
侯钦方
陈哲
HOU Qin-feng;CHEN Zhe(Zhengzhou Electromechanical Engineering Research Institute,Zhengzhou 450015,China)
出处
《重型机械》
2022年第4期92-97,共6页
Heavy Machinery
关键词
六自由度
正逆运动学
刚体动力学
仿真分析
6-DOF
forward and inverse kinematics
rigid dynamics
simulation analysis
