基于ADAMS的机器人动力学仿真研究

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基于ADAMS的机器人动力学仿真研究

摘要
-般而言，多关节通用机器人的动力学分析可归属于具有理想约束的完整系统和多刚体动力学的范畴，对机器人做动力学分析的主要目的有两个：其-，是用于优化控制，通过引入基于机器人动力学特性的控制规律，改善机器人控制的动态和静态品质，实现更精细的轨迹跟踪；其二，是用于优化结构，-个合理设计的机器人系统应该具有旧能轻的非线性耦合性和采用恰如其分的驱动力。本文的任务是完成上述目标的基础性部分，即对-台6自由度机器人进行运动学和动力学计算，并进行了相应的仿真分析。
所完成的主要工作包括，建立了该机器人的串联杆运动坐标体系，及其等效简化结构的多刚体动力学模型，对上述模型进行了运动学和动力学分析，给出了该机器人系统的运动方程，并导出了其简化结构多刚体系统的第二类动力学方程组。在此基础上，还运用虚拟样机技术对该机器人系统做了考虑重力影响的运动学仿真，即：先借助PRO/E的参数化建模功能建立了该6自由度机器人的虚拟三维实体模型，并将该虚拟机器人导入ADAMS平台，再参照机器人实际的几何参数、物理特性以及约束条件，建立了该机器人的运动学仿真模型，并在有重力作用下，进行空间轨迹跟踪的仿真，获取了-系列的重要结果，为优化机器人结构和提升控制品质的后续研究工作提供有价值的数据信息。
上述工作还表明，与其他借助各种编程语言搭建仿真平台和进行仿真的做法相比，采用虚拟样机技术可将所有仿真任务有机地结合在-起，从而可以极大地提高工作效率，避免了其他做法存在的编程过程复杂、费时费力、对研究人员要求高、通用性不高和为不同项目搭建不同平台的缺点。
关键词：机器人 动力学分析 ADAMS 动力学仿真
The Dynamic An alysis of the Robot Based on
ADAMS Virtual Console
Abstract
Generally speaking，the dynamic analysis of General System Structure of
Multi-joint Robot belongs to the category of holonomic system on the
condition of ideal constraint and multi-rigid body system dynamics.The main
subjects of study on robots dynamics shown as two：The first is to optimal
control，that is to say，to improve the dynamic and static quality of robot
control，and to implement efficiently trajectory tracking based on the control
logic of robot dynamic characteristics；the second is structure optimization，a
reasonable designed robot system should have as light as possible nonlinear
and coupling，adopt the most appropriate driving force.This paper deals with
the basic part of the above goals.That is to carry out the kinematicd anf
dynamic calculation of the General System Structure of 6-DOF Robot by our
lab，and make corresponding simulation analysis.
In this paper，the motion reference coordinate system of serial 6-1ink
manipulator and the simplified·-structure of the multi·-rigid body dynamics
model have been established.After kinematic and dynamic analysis，it the
kinematic equation is presented.
The dynamic simulation of the robot system is also carried out by utilizing
ADAMS virtual prototype technology.taking the influence of gravity load
account：Firsty，based on the 3D parametric modeling of Pro/E，the 3D entity
model of the 6-DOF robot is constructed.then the virtual prototype machine is
putted into ADAMS.Practical geometric parameters，physical characteristics
and restriction relations are adopted to establish lts kinematic simulated
model.Moreover，under the gravity load，it takes the sky trajectory tracking
simulation，which will be great significance to the further research on structure
optimization and improving control quality of the robot.
Compared with other simulation methods which construct simulation
platforms by various programming languages，ADAMS virtual prototype
technology can combine all items together.Thus the efficiency may be
improved greatly，and the limits of other methods can be avoided，such as the
complexity of programming，time and human resource waster and the demand on researchers as well as bad universality，constructing different
platforms form different projects.
KEYWORDS：Robot Dynamic Analysis ADAMS Dynamic Simulation