基于逆动力学分析的上下料机器人关键零部件选型

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With the study of a 4-DOF SCARA feeding robot, a method for selecting critical robot com- ponents based on inverse dynamic analysis is introduced in this paper. The procedure of the method in- volves the derivation of kinematic model with Denavit-Hartenberg parameters method, the dynamical modelling with the iterative Newton-Euler dynamics algorithm, programming for the inverse dynamical simulation system with Mathematica, simulating at joint space, obtaining parameters such as joint power, joint torque, revolving speed and interaction force between two links during the simulation process. The method provides theoretical reference for designing robot structure and selecting critical robot compo- nents, such as robot motors, reducers. And it also can be used for selecting critical components for ro- bots with different configurations other than SCARA.以SCARA型四自由度物料搬运机器人为研究载体，提出一种基于逆动力学分析的机器人关键零部件选型方法。该方法是使用Denavit．Hartenberg参数法建立机器人运动学模型，使用Newton―Eu―ler迭代动力学方程建立机器人的动力学模型，利用数学软件Mathematica建立机器人逆动力学仿真系统，并在关节空间下进行仿真分析，最后获得机器人在运动过程中各关节的功率、扭矩、转速及相邻连杆间的相互作用力等参数的一套机器人关键零部件选型方法。该方法为机器人结构设计以及电机、减速机等关键零部件的选型提供理论依据，同时也适用于其他类型的机器人关键零部件选型。