陈亚梅.基于ADAMS的码垛机器人动力学刚柔耦合分析[J].包装工程,2021,42(17):261-265.
CHEN Ya-mei.Rigid-Flexible Coupling Dynamics Analysis of Stacking Robot Based on ADAMS[J].Packaging Engineering,2021,42(17):261-265. |
| 基于ADAMS的码垛机器人动力学刚柔耦合分析 |
| Rigid-Flexible Coupling Dynamics Analysis of Stacking Robot Based on ADAMS |
| 投稿时间：2020-12-01 |
| DOI：10.19554/j.cnki.1001-3563.2021.17.036 |
| 中文关键词: 码垛机器人 刚柔耦合 动力学仿真分析 |
| 英文关键词: stacking robot rigid-flexible coupling dynamic simulation analysis |
| 基金项目:常州工业职业技术学院青年创新基金(QN201813101013) |
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| 中文摘要: |
| 目的 为了更全面地了解码垛机器人的动态性能，分析码垛机器人臂部变形对其运动精度的影响。方法 以ABB的IRB760型机器人为分析对象，运用Lagrange法计算得到其刚柔耦合动力学模型，然后运用ADAMS软件对机器人在一个工作周期内的运动过程，分别进行刚体动力学仿真和刚柔耦合动力学仿真。结果 机器人末端执行器柔性仿真的速度曲线与刚性仿真的速度曲线基本相同，在运行过程中速度变化平稳连续，无突变，而位移曲线机器人运行状态改变时有区别，柔性仿真的加速度波动较大。结论 码垛机器人臂部柔性变形对机器人的运行精度及稳定性影响较大，采用刚柔耦合方法可以更加准确地分析码垛机器人的运行状态。 |
| 英文摘要: |
| In order to understand the dynamic performance of stacking robot more comprehensively and analyze the influence of arm deformation on the motion accuracy of stacking robot. Taking ABB IRB760 robot as the analysis object, the rigid-flexible coupling dynamics model was obtained by Lagrange method. Then, ADAMS software was used to conduct rigid-body dynamics simulation and rigid-flexible coupling dynamics simulation for the robot's movement process in a working cycle. The velocity curve of flexible simulation of robot end-effector was basically the same as that of rigid simulation, and the velocity changes in the running process were stable and continuous without abrupt change. However, the displacement curve was different when the robot's running state changes, and the acceleration of flexible simulation fluctuated greatly. The flexible deformation of the stacking robot arm has a great influence on the operation accuracy and stability of the robot, the rigid and flexible coupling method can be used to analyze the operation state of stacking robot more accurately. |
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