七自由度机械臂动力学分析与仿真
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摘要
针对七自由度机械臂(KUKA LBR IIWA机械手臂)的动力学模型正确性问题,对其关节1进行动力学分析。首先,采用DH法进行结构建模,得出正运动学方程,依据七自由度机械臂自运动特性,计算出机械臂各关节角。然后,采用牛顿—欧拉方法对机械臂进行动力学建模,推导出机械臂各关节约束力/力矩方程。最后,采用ADAMS动力学仿真和实物实验论证,分别对机械臂关节1在静态和动态两种情况所受到的力/力矩进行比较。结果表明:运用理论公式推导、ADAMS仿真和实验验证,综合分析出机械臂关节1受力/力矩结果误差不大,具有一致的,为后续机器人控制、机器人动态分析和机械臂动力学优化等问题研究奠定基础。
For the dynamic model of the KUKA LBR IIWA mechanical arm is analyzed and the dynamic of the joint1 is analyzed. Firstly,the structure modeling was carried out by the DH method,and the forward kinematics equation was obtained,and the Angle of each joint of the manipulator was calculated according to the motion characteristics of the seven-degree-of-freedom manipulator. At the same time,Newton-Euler method is used to model the mechanical arm,and the binding force/moment equation of the mechanical arm is deduced. Finally,ADAMS dynamic simulation and physical experiment demonstration were used to compare the force/moment of the mechanical arm joint 1 in both static and dynamic situations. The experimental results show that the use of theoretical formula derivation,ADAMS simulation and experimental validation,comprehensive analysis of the mechanical arm joint1 force/moment results error is not large,with a consistent,for it lays a foundation for the follow up robot control,robot dynamic analysis and mechanical arm dynamics optimization.
For the dynamic model of the KUKA LBR IIWA mechanical arm is analyzed and the dynamic of the joint1 is analyzed. Firstly,the structure modeling was carried out by the DH method,and the forward kinematics equation was obtained,and the Angle of each joint of the manipulator was calculated according to the motion characteristics of the seven-degree-of-freedom manipulator. At the same time,Newton-Euler method is used to model the mechanical arm,and the binding force/moment equation of the mechanical arm is deduced. Finally,ADAMS dynamic simulation and physical experiment demonstration were used to compare the force/moment of the mechanical arm joint 1 in both static and dynamic situations. The experimental results show that the use of theoretical formula derivation,ADAMS simulation and experimental validation,comprehensive analysis of the mechanical arm joint1 force/moment results error is not large,with a consistent,for it lays a foundation for the follow up robot control,robot dynamic analysis and mechanical arm dynamics optimization.
引文
[1]聂松亮.面向火箭蒙皮铆接的移动机器人动力学分析与研究[D].上海大学,2016.
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[2]韩致信.七自由度仿人机械手的逆运动学分析[J].科学技术与工程,2011,03.
[3]崔泽,韩增军,等.基于自运动的仿人七自由度机械臂逆解算法[J].上海大学学报,2012,18(6).
[4]冯玉倩.基于ADAMS七自由度机械臂的动力学分析与仿真[J].北京石油化工学院学报,2013,6,21(2).
[5]Jaesungn Oh.Analytic Inverse Kinematics Considering the Joint Constraints and Self-collision for Redundant 7DOF Manipulator.2017First IEEE International Conference on Robotic Computing.
[6]胡明伟,王洪光,等.一种协作型机器人运动性能分析与仿真[J].智能系统学报,2017,12(1).
[7]杨新刚,黄玉美,杨文栋,等.基于可操作性的串联机器人相对传动比优化[J].农业机械学报,2009,40(8):209~213.
[8]张永贵,黄玉美,高峰.基于遗传算法的机器人运动学参数误差识别[J].农业机械学报,2008,39(9):153~157.
[9]焦有宙,丁攀,赵大旭.温室3P3R机械臂系统动力学建模与分析[J].农业机械学报,2012,43(5):179~183.
[10]熊有伦,丁汉,等.机器人技术基础[M].武汉:华中科技大学出版社,2008.
[11]Xi F.Computational dynamics[M].Ryerson University,2009.
[12]Bianco C G L.Evaluation of Generalized Force Derivatives by Means of a Recursive Newton–Euler Approach[J].Robotics,IEEE Transactions on,2009,25(4):954~959.DOI:10.1109/TRO.2009,2024787.