2P3R型机床上下料机器人动力学分析及仿真

针对自主创新设计的2P3R型机床上下料机器人,建立了D-H坐标系,在此基础上,采用拉格朗日力学的方法详细推导了该机器人动力学数学模型;运用UG软件绘制了该机器人虚拟样机模型并导入到ADAMS中,定义各杆件材料、添加约束和驱动,并对机器人上下料过程进行动力学仿真分析,分析得到该机器人上下料过程中各关节力/力矩变化曲线图。研究结果为该机器人动态设计及动力学控制提供了理论依据。

Dynamics Analysis and Simulation of 2P3R Up-Down Material Robot for Machine Tool

A 2P3R robot for up-down material of vertical machining center is designed in self-creating. The first, based on the established of D-H coordinate system, by adopting Lagrangian mechanics method, the dynamics equation of robot was established. The three dimensional (3D) solid assembly model of the 2P3R robot was established in UG software and imported into ADAMS to make dynamics simulation analysis of loading process. In the ADAMS, metal was defined and constraints and drive were added. The changing curves of the force/torque of each joint for 2P3R robot are gained in simulation analysis process of the feeding and unloading job by ADAMS. Research results provide the theoretical basis and reference for the dynamic design and control of 2P3R robot.