| 加油机器人动力学建模与分析 |
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| 引用本文： | 陈雁,阎思达,陈文卓,马振利,黎波.加油机器人动力学建模与分析[J].四川兵工学报,2017(8). |
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| 作者姓名： | 陈雁 阎思达 陈文卓 马振利 黎波 |
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| 作者单位： | 后勤工程学院 军事供油工程系,重庆,401331 |
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| 基金项目： | 国防科研项目(YX216J021)，国家自然科学基金资助项目(51505494) |
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| 摘 要： | 以五自由度加油机器人为研究对象,采用牛顿-欧拉法建立了机器人的动力学模型并进行动力学分析.基于Matlab软件进行了动力学理论计算并绘制了力矩曲线.基于SolidWorks软件构建了机器人的三维模型并进行动力学仿真,得到各关节的力矩曲线.结果表明,各关节力矩的理论值和仿真值随时间变化的曲线相似,偏差小,动力学模型和算法合理可行.
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| 关 键 词： | 加油机器人 动力学 牛顿-欧拉 SolidWorks |
Dynamics Modeling and Analysis of Refueling Robot |
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| Authors: | CHEN Yan YAN Sida CHEN Wenzhuo MA Zhenli LI Bo |
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| Abstract: | With a 5-DOF refueling robot as the research objective,the dynamic model of the robot was established by using the Newton-Euler method and the dynamic analysis is carried out.Based on MATLAB software,the kinetic theory is calculated and the torque curve is drawn.Based on SolidWorks software,the 3D model of the robot is constructed and the dynamic simulation was carried out,and the torque curves of each joint was obtained.The results show that the theoretical and simulated values of joint torque are similar and the deviation is small.The dynamic model and algorithm are reasonable and feasible. |
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| Keywords: | refueling robot dynamics Newton-Euler SolidWorks |
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