| 袋装物料搬运机器人动力学分析与仿真 |
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| 引用本文： | 康鹏桂,谢丽华,张霞,刘晓明.袋装物料搬运机器人动力学分析与仿真[J].镇江高专学报,2012(3):57-60. |
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| 作者姓名： | 康鹏桂 谢丽华 张霞 刘晓明 |
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| 作者单位： | 青岛理工大学琴岛学院机电工程系,山东青岛266033 |
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| 基金项目： | 基金项目：山东省教育厅科技攻关计划（J05802） |
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| 摘 要： | 鉴于动力学模型对系统仿真、控制系统设计的重要性,基于第二类拉格朗日方程对5自由度袋装物料搬运机器人进行动力学分析,建立动力学模型.采用 MATLAB编程求解动力学微分方程的解,基于 ADMAS虚拟样机平台进行动力学仿真,获得机器人各个关节加速度、驱动力、力矩曲线图.
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| 关 键 词： | 袋装物料搬运机器人 动力学分析 仿真 |
Dynamics analysis and simulation on load-unload bagged materials robot |
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| KANG Peng-gui,XIE li-hua,ZHANG xia,LIU xiao-ming.Dynamics analysis and simulation on load-unload bagged materials robot[J].Journal of Zhenjiang College,2012(3):57-60. |
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| Authors: | KANG Peng-gui XIE li-hua ZHANG xia LIU xiao-ming |
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| Affiliation: | (Mechanical and Electrical Engineering Department, Qindao College of Qingdao Technological University, Qingdao 250022, China) |
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| Abstract: | In view of the fact that the dynamics is important for the robot system simulation and feedback control design, the dynamics of load-unload bagged materials robot is analyzed and the precise dynamics model is estab- lished, based on the second kind Lagrange theory. The solution of dynamics differential equations is solved by pro- cedure MATLAB and dynamics simulation is made based on he platform of the ADMAS dummy prototype to obtain series of angular acceleration, driving force, moment graph. |
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| Keywords: | load-unload bagged materials robot dynamics analysis simulation |
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