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针对一种大负载的SCARA机器人进行动力学性能仿真。采用拉格朗日法建立该机器人的动力学模型,使用MATLAB/Robotics工具箱进行运动学仿真,得到指定路径下机器人关节驱动函数,并校核电机和减速器的选型。为更贴近实际情况,在ansys中对机械臂进行刚柔耦合处理,将生成的mnf文件导入ADAMS中,建立刚柔耦合模型进行动力学仿真。对比刚柔耦合情况下和刚性情况下的末端轨迹,分析偏差曲线,并以此为依据优化运动曲线,减小机器运动时的误差。
Dynamic Simulation of SCARA Robot for a Large Load. The dynamic model of the robot was established by Lagrange method. The kinematics simulation was carried out by using MATLAB / Robotics toolbox. The driving function of robot joint under the specified path was obtained, and the selection of motor and reducer was checked. To be closer to the actual situation, the robotic arm was rigid-flexible coupled in ansys, the generated mnf file was imported into ADAMS, and the rigid-flexible coupling model was established for dynamic simulation. Comparing the end-tracks under rigid-flexible coupling and rigid-end conditions, the deviation curve is analyzed and the motion curve is optimized based on this to reduce the error when the machine is moving.