机器人系统碰撞动力学建模与仿真分析

发布时间：2018-06-22 01:50

本文选题：机器人系统 + 碰撞动力学　；参考：《天津工业大学》2017年硕士论文

【摘要】：机器人系统的碰撞问题是实际工程技术中一个重要的研究课题,碰撞会影响系统运行的精度和稳定性,引起机器人系统动力学形态的巨大变化。同时,碰撞过程中产生的较大冲击力可能损坏系统或者目标物,因此,对机器人系统的碰撞问题进行研究,具有很强的理论意义和实际应用价值。本学位论文基于碰撞过程中产生的碰撞冲量和碰撞冲量矩理论建立机器人系统碰撞动力学模型,并对碰前轨迹规划和碰后动态响应问题进行了研究。本学位论文的主要研究工作如下:利用Lagrange方程,建立机器人系统的动力学模型,并以此为基础根据经典碰撞理论与恢复系数方程,推导得到碰撞时系统的外部碰撞冲量求解模型;该模型中碰撞点的速度与碰撞冲量之间是解耦的,有利于计算求解;基于Newton—Euler方程,采用相对坐标法,建立串联机器人系统的内部冲击动力学模型,探讨平面三杆机器人碰撞构型对内、外部冲击的影响,分析连杆质量和长度两个物理参数对关节内部冲击的影响。介绍闭链系统运动学分析的环路方程法及L-D动力学建模方法,引出建立闭链系统内部冲击动力学模型所需的一阶运动影响系数矩阵,基于串联支链内部冲击动力学理论,建立平面闭链五杆机器人机构内部冲击动力学模型。根据冗余机器人关节空间自运动特性,以平面三杆机器人为实例,通过建立其逆运动学解析解,采用零空间优化法进行碰前轨迹优化研究,分析零空间优化法对碰撞冲量的减小效应。根据碰撞过程中产生的冲量原理和高斯最小约束原理,运用求多变量函数极值的方法,建立多刚体系统接触碰撞后瞬时速度求解方程式,通过数值仿真,分析和探讨碰撞后系统的动态特性。
[Abstract]:The collision problem of robot system is an important research subject in practical engineering technology. Collision will affect the accuracy and stability of the system operation and cause great changes in the dynamics of the robot system. At the same time, the impact force produced in the collision process may damage the system or the object. Therefore, the research on the collision problem of the robot system has a strong theoretical significance and practical application value. Based on the collision impulse and collision impulse moment theory, this dissertation establishes the collision dynamics model of robot system, and studies the problem of trajectory planning and dynamic response after collision. The main research work of this dissertation is as follows: using Lagrange equation, the dynamic model of robot system is established, and based on the classical collision theory and restoration coefficient equation, In this model, the velocity of the collision point is decoupled from the collision impulse, which is advantageous to the calculation and solution. Based on the Newton-Euler equation, the relative coordinate method is used. The internal impact dynamics model of the series robot system is established. The impact of the collision configuration of the planar three-bar robot on the internal and external impact is discussed. The influence of the physical parameters of the connecting rod mass and length on the internal impact of the joint is analyzed. The loop equation method and L-D dynamic modeling method for the kinematics analysis of closed chain system are introduced. The first order motion influence coefficient matrix needed to establish the internal impact dynamics model of closed chain system is derived, based on the theory of internal impact dynamics of series branching chain. The internal impact dynamics model of planar closed chain five-bar robot mechanism is established. According to the self-motion characteristics of redundant robot joints, taking the planar three-bar robot as an example, the inverse kinematics analytical solution is established, and the zero-space optimization method is used to optimize the collision trajectory. The reduction effect of zero space optimization method on collision impulse is analyzed. According to the impulse principle and the Gao Si minimum constraint principle in the course of collision, using the method of finding the extremum of multivariable function, the equation of instantaneous velocity of multi-rigid body system after contact collision is established, and the equation is solved by numerical simulation. The dynamic characteristics of the system after collision are analyzed and discussed.
【学位授予单位】：天津工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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