新型可控变胞式码垛机器人机构动态稳定性研究

发布时间：2018-06-11 11:57

本文选题：变胞机构 + 码垛机器人　；参考：《机械工程学报》2017年13期

【摘要】：变胞机构发生构态变换时,不可避免地会造成冲击,严重时将导致系统失稳,因此对变胞机构进行稳定性分析对于变胞机构在实际应用中的推广至关重要。以面向任务可控变胞式码垛机器人机构为研究对象,将最大李雅普诺夫指数作为机构系统动态稳定度的评价指标,在所建立机构系统全构态非线性动态模型的基础上,考虑了机构材料参数、控制参数以及内冲击激励对机构系统动态性能的影响。运用Newmark法求解出机构系统全构态非线性动态模型的响应时间序列后,运用C_C法计算时间延迟和嵌入维数,对响应序列进行相空间重构,运用Wolf法计算响应序列的最大李雅普诺夫指数,根据系统输出端相图中的轨迹对系统稳定性进行分析。研究成果为变胞机构动态稳定性的研究提供了参考基础。
[Abstract]:The structure transformation of metamorphic mechanism will inevitably cause shock and instability of the system when it is serious, so it is very important to analyze the stability of metamorphic mechanism in practical application. Taking the task-controllable variable cell palletizing robot mechanism as the research object, the maximum Lyapunov exponent is used as the evaluation index of the dynamic stability of the mechanism system, and based on the established full-structure nonlinear dynamic model of the mechanism system. The effects of material parameters, control parameters and internal shock excitation on the dynamic performance of the mechanism system are considered. After solving the response time series of the full-state nonlinear dynamic model of the mechanism system by Newmark method, the time delay and embedding dimension are calculated by using the Cstack C method, and the phase space reconstruction of the response sequence is carried out. The maximum Lyapunov exponent of the response sequence is calculated by Wolf method, and the stability of the system is analyzed according to the trajectory in the phase diagram of the output end of the system. The results provide a reference for the study of the dynamic stability of metamorphic mechanism.
【作者单位】：广西大学机械工程学院;伦敦大学国王学院;桂林理工大学机械与控制工程学院;天津大学机构理论与装备设计教育部重点实验室;
【基金】：国家自然科学基金(51265003) “广西高等学校优秀中青年骨干教师培养工程”资助项目
【分类号】：TH112;TP242

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