基于ADAMS的六自由度串联机器人运动学仿真研究
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摘要
借助ADAMS仿真软件建立了六自由度串联机器人的虚拟样机模型,对其运动学问题进行了仿真研究。通过对末端执行器添加点驱动,设置期望轨迹参数方程,仿真测量得到各个关节角度变化的曲线,通过对曲线的拟合,最终得到运动学逆解。利用六个关节的运动驱动,仿真得到机器人末端执行器的位移与速度曲线,其变化平稳,无突变现象。通过在ADAMS平台上进行仿真,可直观的了解到机器人运动过程中的各连杆、各关节及末端执行器的运行状态,为机器人轨迹规划、动力学分析及离线编程、物理样机实验等提供依据。
A virtual prototype model of six-DOF tandem robot has been established by means of ADAMS, and the kinematics question of the model has been simulated. By adding a general point motion to the end-effector of the robot model and setting the desired trajectory parameter, movement angle curve of each joint was measured. Finally, the inverse kinematics solution is obtained by fitting the curve. The displacement and velocity curves of the robot end-effector are obtained by driving the six joints motion. Further, the curves changed smoothly without abrupt changing. With simulating by ADAMS, the running state of each joint, link and end-effector can be intuitively understood in the process of robot motion, which provides the basis for the robot trajectory planning, dynamic analysis, offline programming and physical prototype experiment.
A virtual prototype model of six-DOF tandem robot has been established by means of ADAMS, and the kinematics question of the model has been simulated. By adding a general point motion to the end-effector of the robot model and setting the desired trajectory parameter, movement angle curve of each joint was measured. Finally, the inverse kinematics solution is obtained by fitting the curve. The displacement and velocity curves of the robot end-effector are obtained by driving the six joints motion. Further, the curves changed smoothly without abrupt changing. With simulating by ADAMS, the running state of each joint, link and end-effector can be intuitively understood in the process of robot motion, which provides the basis for the robot trajectory planning, dynamic analysis, offline programming and physical prototype experiment.
引文
[1] 李瑞峰.工业机器人设计与应用[M].哈尔滨:哈尔滨工业大学出版社,2017.
[2] 蔡自兴,谢斌.机器人学[M].北京:清华大学出版社,2015.
[3] 丁学恭.机器人控制研究[M].杭州:浙江大学出版社,2006.
[4] 丁佳洛,战强.基于ADAMS的串联机器人运动学反解与动力学优化[J].机电产品开发与创新, 2008(21) :9-11.
[5] 李增刚.ADAMS入门详解与实例[M].北京:国防工业出版社,2014.
[6] Kim P. Rigid Body Dynamics for Beginners: Euler Angles &Quaternion[M]. Charleston, South Carolina, USA: Create Space, 2014.
[7] 陈立平,张云清,任卫群,等.机械系统动力学分析及ADAMS应用教程[M].北京:清华大学出版社,2004.
[8] 邵忍平.机械系统动力学[M].北京:机械工业出版社,2017.
[9] Dasari A, Reddy N S. Forward and inverse kinematics of a robotic frog[M]. Intelligent Human Computer Interaction, 2012: 1-5.
[10] 张立栋,李亮玉,王天琪.工业机器人逆解问题的旋量解法[J].机械科学与技术,2016,35 (04) : 539-544.
[11] Husty M L, Pfumer M. A new and efficient algorithm for the inverse kinematics of a general serial 6R-manipulator[J]. Mechanism and Machine Theory, 2007, 42(01) : 66 -81.
[12] 余晓流,刘进福.基于ADAMS的六自由度焊接机器人运动学分析及仿真[J].安徽工业大学学报,2012 (01) :49-53.
[13] 陈鲁刚,平雪良,徐稀文,等.基于ADAMS的焊接机器人轨迹规划[J].江南大学学报,2011(02).
[14] 杜百超.基于虚拟样机技术的机器人轨迹规划及仿真[D].吉林:吉林大学, 2007.
[15] 白丽平,解生冕.点焊机器人模型的动力学仿真分析机电工程技术[J].机电工程技术,2007(36):49-52.
[16] 朱建文,周波,孟正大.基于Adams 的150kg 机器人运动学分析及仿真[J].工业控制计算机,2017(30):82-87.
[17] 王梦.多自由度串联机器人运动学分析与仿真[D].北京:北京理工大学,2016.
[18] 陈峰华.ADAMS 2012 虚拟样机技术从入门到精通[M] .北京:清华大学出版社,2013.
[19] 邱宁佳,隋振,李明哲,等.六自由度机器人空间划线轨迹规划算法[J].吉林大学学报(工学版),2013,43(05) : 1307 -1313.
[20] 刘松国,朱世强,王宣银.基于矩阵分解的一般6R机器人实时高精度逆运动学算法[J].机械工程学报, 2008, 44(11):304-309.
[21] Luo H T, Chen Z C, Wang H G. Rigid-Flexible Coupling Dynamics Simulation of 3-RPS Parallel Robot Based on ADAMS and ANSYS[J]. Applied Mechanics & Materials, 2013(29): 91-96.
[22] 刘亚军,黄田.6R 操作臂逆运动学分析与轨迹规划[J].机械工程学报,2012,48(03): 9-15.
[2] 蔡自兴,谢斌.机器人学[M].北京:清华大学出版社,2015.
[3] 丁学恭.机器人控制研究[M].杭州:浙江大学出版社,2006.
[4] 丁佳洛,战强.基于ADAMS的串联机器人运动学反解与动力学优化[J].机电产品开发与创新, 2008(21) :9-11.
[5] 李增刚.ADAMS入门详解与实例[M].北京:国防工业出版社,2014.
[6] Kim P. Rigid Body Dynamics for Beginners: Euler Angles &Quaternion[M]. Charleston, South Carolina, USA: Create Space, 2014.
[7] 陈立平,张云清,任卫群,等.机械系统动力学分析及ADAMS应用教程[M].北京:清华大学出版社,2004.
[8] 邵忍平.机械系统动力学[M].北京:机械工业出版社,2017.
[9] Dasari A, Reddy N S. Forward and inverse kinematics of a robotic frog[M]. Intelligent Human Computer Interaction, 2012: 1-5.
[10] 张立栋,李亮玉,王天琪.工业机器人逆解问题的旋量解法[J].机械科学与技术,2016,35 (04) : 539-544.
[11] Husty M L, Pfumer M. A new and efficient algorithm for the inverse kinematics of a general serial 6R-manipulator[J]. Mechanism and Machine Theory, 2007, 42(01) : 66 -81.
[12] 余晓流,刘进福.基于ADAMS的六自由度焊接机器人运动学分析及仿真[J].安徽工业大学学报,2012 (01) :49-53.
[13] 陈鲁刚,平雪良,徐稀文,等.基于ADAMS的焊接机器人轨迹规划[J].江南大学学报,2011(02).
[14] 杜百超.基于虚拟样机技术的机器人轨迹规划及仿真[D].吉林:吉林大学, 2007.
[15] 白丽平,解生冕.点焊机器人模型的动力学仿真分析机电工程技术[J].机电工程技术,2007(36):49-52.
[16] 朱建文,周波,孟正大.基于Adams 的150kg 机器人运动学分析及仿真[J].工业控制计算机,2017(30):82-87.
[17] 王梦.多自由度串联机器人运动学分析与仿真[D].北京:北京理工大学,2016.
[18] 陈峰华.ADAMS 2012 虚拟样机技术从入门到精通[M] .北京:清华大学出版社,2013.
[19] 邱宁佳,隋振,李明哲,等.六自由度机器人空间划线轨迹规划算法[J].吉林大学学报(工学版),2013,43(05) : 1307 -1313.
[20] 刘松国,朱世强,王宣银.基于矩阵分解的一般6R机器人实时高精度逆运动学算法[J].机械工程学报, 2008, 44(11):304-309.
[21] Luo H T, Chen Z C, Wang H G. Rigid-Flexible Coupling Dynamics Simulation of 3-RPS Parallel Robot Based on ADAMS and ANSYS[J]. Applied Mechanics & Materials, 2013(29): 91-96.
[22] 刘亚军,黄田.6R 操作臂逆运动学分析与轨迹规划[J].机械工程学报,2012,48(03): 9-15.