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本文运用ADAMS软件对一种机械臂关节的虚拟动力学模型进行了建模,建模过程中充分考虑了齿轮的啮合刚度、运动副之间的阻尼、负载惯量、传动比以及齿轮间隙等因素。其中,齿轮的啮合刚度和负载惯量对机械臂关节的频率特性起关键性作用。研制了机械臂关节的样机。为了改善机械臂关节机电系统的伺服特性,利用ADAMS-SIMULINK联合仿真建立了机械臂关节的伺服控制模型,将关节的ADAMS动力学模型中的传感器和执行器参数直接嵌入到MATLAB环境中,形成伺服控制系统设计。通过比对样机的实验数据,对虚拟样机参数进行了优化。所以,机械臂关节的复杂动力学模型可以用于指导关节的设计、仿真和试验。
In this paper, we use ADAMS software to simulate a kind of mechanical dynamics model of a manipulator joint, which takes full account of the gear meshing stiffness, the damping between the moving pairs, the load inertia, the gear ratio and the gear clearance. Among them, the gear meshing stiffness and load inertia of the mechanical joints of the frequency characteristics play a key role. Developed the robot arm joint prototype. In order to improve the servo characteristic of the mechanical and electrical system of the manipulator, the servo control model of the manipulator joint was established by ADAMS-SIMULINK co-simulation. The parameters of sensors and actuators in the ADAMS dynamics model of the joint were directly embedded into the MATLAB environment to form a servo Control system design. By comparing the prototype experimental data, the virtual prototype parameters are optimized. Therefore, the complex dynamics model of manipulator joints can be used to guide the design, simulation and experiment of joints.