工业机械臂动力学模型简化分析与仿真

针对工业机械臂进行动力学分析的常用方法是利用Lagrange方程进行动力学建模后再实行仿真计算。利用Pieper准则,将五自由度工业机械臂动力学方程展开式简化,即将腕部与手抓部的关节视为外部干扰,只针对前三关节进行动力学分析;提出一种针对简化后的模型利用开源引擎ODE完成机械臂动力学计算;在建立的机械臂三维仿真平台上利用ODE进行仿真的方法。仿真结果表明:该仿真方法不仅可实现机械臂的实时控制,还能得到机械臂动力学参数曲线图。为解决机械臂动力学仿真中效率低和实时性差的问题提供了理论依据。

Simplified Analysis and Simulation of Dynamic Model of Industrial Manipulator

The commonly used method for dynamic analysis of industrial manipulators is to use Lagrange equation for dynamic modeling and then to carry out simulation calculation. Pieper criterion is used to simplify the expansion of dynamic equation of five-degree-of-freedom (5-DoF) industrial manipulator. The joint of wrist and grip was regarded as external interference, and the dynamic analysis of the first three joints was carried out only. Then, an open source engine Ordinary Differential Equation (ODE) was proposed to complete the dynamic calculation of the manipulator for the simplified model. Finally, ODE was used to carry out the dynamic calculation of the manipulator on the established three-dimensional simulation platform. The simulation method and simulation results show that the simulation method can not only realize the real-time control of the manipulator, but also obtain the dynamic parameters curve of the manipulator. It provides a theoretical basis for solving the problem of low efficiency and poor real-time performance in the dynamics simulation of manipulator.