4-DOF混联机器人多能域动力学全解模型及试验

发布时间：2018-10-20 20:08

【摘要】：以4-DOF混联机器人为研究对象,分析了混联机器人的运动学,接着基于传统键合图建立了系统驱动部分(电动机和气动部分)键合图模型,基于旋量键合图建立了系统机械本体动力学模型,由于系统的并联部分引入冗余驱动,提出了采用输入力矩优化的方法,增加了1个补充方程,最终得到了该机器人完整的机、电、气耦合的多能域系统动力学全解模型。冗余驱动分支在随动和施加优化得到的力矩(力/位混合控制)两种情况下,借助键合图自动化仿真软件(20-sim)进行多能域动力学仿真;并进行样机的控制试验,将仿真与试验得到的驱动力矩进行对比,验证了所建机器人系统多能域动力学模型的正确性。通过试验可以证明:力/位混合控制时样机运行更加平稳且能有效提高机构的运动精度。
[Abstract]:Taking 4-DOF hybrid robot as the research object, the kinematics of the hybrid robot is analyzed. Then, based on the traditional bond graph, the bond graph model of the driving part (motor and pneumatic part) of the system is established. Based on the spinor bond graph, the dynamic model of the mechanical body of the system is established. Because the redundant drive is introduced into the parallel part of the system, an input torque optimization method is proposed, and a supplementary equation is added, finally the complete machine of the robot is obtained. The total solution model of electric and gas coupling system in multi-energy domain. In the case of servo and torque (force / bit hybrid control), the redundant driving branch is simulated in multi-energy domain with the help of bond graph automation simulation software (20-sim), and the control experiment of the prototype is carried out. By comparing the driving torque obtained by simulation and experiment, the correctness of the multi-energy dynamic model of the robot system is verified. It can be proved by experiments that the prototype runs more smoothly and can effectively improve the kinematic accuracy of the mechanism under the combined force / bit control.
【作者单位】：燕山大学河北省并联机器人与机电系统实验室;先进锻压成形技术与科学教育部重点实验室(燕山大学);燕山大学河北省重型机械流体动力传输与控制实验室;
【基金】：国家自然科学基金(51405421) 河北省自然科学基金(E2015203101)资助项目
【分类号】：TP242

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