| 立筒仓悬挂式清洁机器人的建模与转动控制仿真 |
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| 引用本文： | 曹毅,刁伟华,于心俊.立筒仓悬挂式清洁机器人的建模与转动控制仿真[J].机械传动,2012,36(2):29-32. |
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| 作者姓名： | 曹毅 刁伟华 于心俊 |
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| 作者单位： | 河南工业大学电气工程学院,河南郑州,450007 |
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| 基金项目： | 国家自然科学基金，国家"十一五"科技支撑计划项目，河南省科技创新杰出青年基金，河南省高校青年骨干教师计划项目，郑州市科技攻关项目，河南工业大学基金 |
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| 摘 要： | 针对立筒仓清理困难的实际情况,设计了一种悬挂式清洁机器人系统。由于该系统在粮仓内要连续进行转动清扫,故需要研究一种快速准确的控制方案。首先,对机器人的物理模型进行简化,并采用MSC公司ADAMS软件建立了立筒仓清洁机器人的虚拟样机。其次,通过ADAMS/Controls模块与MATLAB接口,并利用MATLAB/Simulink对机器人的虚拟样机进行转动控制进行仿真。最终,得到了机械臂和悬吊臂旋转的角位移和角速度控制曲线并进行了探讨。
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| 关 键 词： | 模型建立 转动控制 联合仿真 悬挂式清洁机器人 |
Modeling and Simulation of Revolving Control of Hanging Cleaning Robot for Silo |
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| Cao Yi
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Diao Weihua
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Yu Xinjun.Modeling and Simulation of Revolving Control of Hanging Cleaning Robot for Silo[J].Journal of Mechanical Transmission,2012,36(2):29-32. |
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| Authors: | Cao Yi Diao Weihua Yu Xinjun |
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| Affiliation: | Cao Yi Diao Weihua Yu Xinjun(School of Electrical Engineering,Henan University of Technology,Zhengzhou 450007,China) |
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| Abstract: | A hanging robot developed to allow the clearing of hung up material in large silo is proposed.It is very important to design a controller with accuracy and rapidness to satisfy the revolving control for the robot.Firstly,without loss of generality,the physical model of the hanging robot and create its virtual prototype in ADAMS of MSC is simplified.Secondly,the co-simulation method is implemented by using ADAMS/Controls and MATLAB/Simulink for controlling the revolution of the robot.Finally,the plot of angular displacement and angular velocity of the simulation is obtained and analyzed. |
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| Keywords: | Prototype modeling Revolving control Co-simulation Hanging-cleaning robot |
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