摘要
在机器人夹持柔性负载进行移摆时,往往伴随着残余振动的存在,为了探索残余振动的产生原因和实现振动抑制,需要对机器人进行运动学及动力学分析。以地质钻杆移摆系统为例,对其所用的IRB-660型机器人进行D-H运动学建模,计算运动学齐次变换矩阵并在MATLAB中进行逆运动学求解。随后,根据工况设计直线移摆轨迹,设置关键点并求出对应关节角度,在ADAMS中进行动力学仿真并且设计动力学实验,验证仿真的准确性,得出移摆过程中夹持末端三轴方向加速变化情况。仿真实验结果表明:运动学模型建立正确,动力学仿真与实验可以相互验证,振动趋势较为一致,且最大加速度变化均发生在加速度方向改变处,但仍存在一定误差,为后续振动抑制的研究打下了基础。
When the flexible load is clamped by the robot to move the pendulum,there is often residual vibration.In order to explore the cause of residual vibration and realize vibration suppression,kinematic and dynamic analysis of the robot are needed.Taking the geological drilling pipe swing system as an example,the D-H kinematic modeling was carried out for the IRB-660 robot,the homogeneous transformation matrix of kinematics was calculated,and the inverse kinematics was solved in MATLAB.Then,according to the working conditions,the trajectory of the linear swing was designed,the key points were set and the corresponding joint angle was calculated.The dynamic simulation was carried out in ADAMS and the dynamic experiment was designed to verify the accuracy of the simulation,and the acceleration change of the three-axis direction of the clamping end in the process of the swing was obtained.The simulation results show that the kinematic model was established correctly,the dynamic simulation and the experiment can verify each other,the vibration trend is relatively consistent,and the maximum acceleration change occurs at the acceleration direction change,but there are still some errors,which lays a foundation for the subsequent research on vibration suppression.
作者
刘欣
胡远彪
Liu Xin;Hu Yuanbiao(School of Engineering and Technology,China University of Geosciences(Beijing),Beijing 100083,China)
出处
《煤矿机械》
2023年第6期56-59,共4页
Coal Mine Machinery
