人造板上下料机械手的动力学分析及仿真

目的 实现包装生产线上的自动化搬运作业，全面系统地了解人造板上下料机械手的动态特性，探究该机械手各关节所需驱动力大小及变化规律。方法 建立人造板上下料的三维结构模型，制定机械手一周期内的运动流程，通过拉格朗日方程法对机械手进行建模，通过系统动力学仿真软件(Adams)仿真出机械手的动态特性并验证动力学模型的准确性。结果 得到了机械手各关节(角)速度、(角)加速度、力与力矩变化曲线，(角)速度变化平缓无突变，(角)加速度、力与力矩曲线在6～9 s时变化剧烈，仿真曲线与动力学模型数据基本拟合。结论 动力学模型建立正确，后续应优化驱动或通过结构优化方式使整个运动过程更加平稳。

Dynamic Analysis and Simulation of Loading and Unloading Manipulator for Wood-based Panel

The work aims to realize the automatic handling operation of packaging production line, comprehensively and systematically understand the dynamic characteristics of loading and unloading manipulator for wood-based panel, and explore the driving force and variation law of each joint of the manipulator. A three-dimensional structure model for loading and unloading of wood-based panel was established. The motion process of the manipulator in one cycle was formulated. The manipulator was modeled by Lagrange equation method, the dynamic characteristics of the manipulator were simulated by system dynamics simulation software (Adams), and the accuracy of the dynamic model was verified. The change curves of (angular) velocity, (angular) acceleration, force and torque of each joint of the manipulator were obtained. The change of (angular) velocity was gentle without sudden change, and the curve of (angular) acceleration, force and torque changed sharply in 6 s-9 s. The simulation curve basically fitted the dynamic model data. The dynamic model is established correctly, and the subsequent driving or structural optimization should be used to make the whole movement process more stable.