摘要
基于十字坐标,设计了一种搬运机器人,其夹持机构为两侧对称、单侧双滑块结构。建立了夹持机构动力学模型,分析了其受力和运动情况,基于ADAMS和MATALB搭建了机器人整体抗倾覆性PID控制模型,仿真分析了其影响因素。分析结果表明,夹持机构的受力和运动可靠可控,机器人整体抗倾覆性可调可控。针对夹持机构的运动学情况和机器人整体抗倾覆性的影响因素,对夹持机构的相应控制策略进行了设计,以使机器人在自动搬运过程中能准确控制夹持机构夹持力。
A conveying robot was designed based on the cross coordinate,its clamping mechanism is made up of two symmetrical sliding blocks with unilateral double-slider mechanism.Kinetic model of the clamping mechanism was established,its stress and movement was analyed.The PID control model of robot’s anti-tumble stability was built based on AD AM S and M ATLAB,its influence factors ware simulated and analyzed.The analysis results show that the force and movement of the clamping mechanism is reliable and controllable,and the robot’s anti-tumble stability is adjustable and controllable.According to kinematic condition of the clamping mechanism and influence factors of robot’s anti-tumble stability the corresponding control strategy was designed,so that the robot can accurately control the clamping mechanism’s clamping force during its automatically conveying.
作者
张奇梁
孙江宏
杜宏辰
张楠
ZHANG Qi-liang;SUN Jiang-hong;DU Hong-chen;ZHANG Nan(Electrical Mechanical Engineering School,Beijing Information Science and Technology University,Beijing 100192,China;Institute of Mechatronic Engineering,Tsinghua University,Beijing 100084,China)
出处
《机械设计与制造》
北大核心
2018年第4期259-261,265,共4页
Machinery Design & Manufacture
基金
国家重大科学仪器设备专项(2014YQ24044504)
促进高校内涵发展-大学生活科研训练项目(5111623100)
关键词
十字坐标
搬运机器人
双滑块机构
夹持机构
抗倾覆性
控制策略
Cross Coordinate
Conveying Robot
Double-Slider Mechanism
Clamping Mechanism
Anti-Tumble Stability
Control Strategy
作者简介
张奇梁,(1989-),男,湖北武穴人,硕士研究生,主要研究方向:机器人机构学。;孙江宏,(1971-),男,黑龙江伊春人,博士研究生,硕士生导师,教授,主要研究方向:机器人机构学。
