重载搬运机器人的动力学仿真及控制系统设计

关节型重载搬运机器人各运动关节动态性能和能量耗散水平直接影响机器人以及运动规划的可达性。以ABB公司生产的IRB460型重载搬运机器人为研究对象,针对其机械本体结构特性,建立重载搬运机器人三维模型。若仅考虑回转轴、大臂和小臂组成的三个自由度,重载搬运机器人系统模型可简化成空间三关节机器人系统模型;依据拉格朗日力学方程建立重载搬运机器人系统动力学模型,利用机械臂逆运动学和五次多项式插值算法完成对多关节机械臂空间轨迹规划。通过动力学仿真分析可知,重载搬运机器人各运动关节的动态性能变化稳定且能量耗散较小,且能够沿着预定轨迹完成PTP模式的运动控制。最后,搭建控制系统仿真实验平台,提出一种重载搬运机器人控制系统模型,实验结果表明,所设计的重载搬运机器人控制系统能够准确、稳定的控制各运动关节运动,验证了各运动关节驱动电动机功率参数选择的合理性,为实际的工业生产应用奠定了理论基础。

Dynamic Simulation and Control System Design of Heavy-duty Handling Robot

The dynamic performance and energy dissipation level of each moving joint of articulated heavy-duty handling robot directly affect the accessibility of the robot and motion planning.Taking IRB460 heavy haul handling robot produced by ABB Company as the research object,aiming at the structural characteristics of its mechanical body,a three-dimensional model of heavy haul handling robot is established.If only three degrees of freedom are considered,the system model of heavy-duty handling robot can be simplified to a three-joint space robot system model.Based on Lagrange mechanics equation,the system dynamics model of heavy-duty handling robot is established,and the inverse kinematics of the manipulator and the quintic polynomial interpolation algorithm are used to complete the pairing.Spatial trajectory planning of multi-joint manipulator.Through the dynamic simulation analysis,it can be seen that the dynamic performance of the motion joints of the heavy haul handling robot changes steadily and the energy dissipation is small,and the motion control of PTP mode can be completed along the predetermined trajectory.Finally,the simulation platform of control system is built,and a control system model of heavy-duty handling robot is proposed.The experimental results show that the designed control system of heavy-duty handling robot can accurately and stably control the motion of each moving joint,which verifies the rationality of the power parameter selection of the driving motor of each moving joint.The practical application of industrial production has laid a theoretical foundation.