Brokk60机器人机械臂的动力学建模与仿真
薛帅1,2，邹树梁*,2，刘军1,2
（1.南华大学 机械工程学院，湖南 衡阳 421001；2.核设施应急安全作业技术与装备湖南省重点实验室，湖南 衡阳 421001）
摘要：通过分析Brokk60机器人机械臂上各个铰链之间以及铰链与机械臂之间的位置关系，建立公共坐标系和机械臂上的连体坐标系，推导出机械臂的雅可比矩阵。对各个铰链之间的受力关系进行分析研究，结合液压缸活塞上力平衡方程，以笛卡尔坐标系为基础建立该机器人的动力学模型。同时还利用ADAMS软件对机械臂在匀速和变加速两种状况下的运动进行仿真分析，得出机械臂各关节铰的受力、力矩以及各质心加速度情况，并以此绘制出曲线图。
关键词：机械臂；动力学模型；仿真分析
中图分类号：TP242.2 文献标志码：A doi：10.3969/j.issn.1006-0316.2019.12.004
文章编号：1006－0316 (2019) 12－0022－06
Dynamic Modeling and Simulation of Brokk60 Robot Manipulator
XUE Shuai1,2，ZOU Shuliang2，LIU Jun1,2
( 1.School of Mechanical Engineering, University of South China, Hengyang 421001, China; 2.Hunan Provincial Key Laboratory of Emergency Safety Technology and Equipment for Nuclear Facilities, Hengyang 421001, China )
Abstract：By analyzing the positional relationship between the hinges of the robot arm of the Brokk60 robot and between the hinge and the manipulator, and establishing the joint coordinate system on the common coordinate system and the manipulator, the Jacobian matrix of the manipulator is derived. Then the force relationship between the hinges is analyzed, and combined with the force balance equation of the hydraulic cylinder piston, the dynamic model of the robot is established based on the Cartesian coordinate system. At the same time, software Adams is used to simulate and analyze the motion of the manipulator under the condition of uniform speed and variable acceleration, from which the force and moment of each joint of the mechanical arm and the acceleration of each centroid are obtained and the graph is drawn.
Key words：robot manipulator；kinetic model；simulation analysis
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收稿日期：2019－05－16
作者简介：薛帅（1987－），男，山东菏泽人，硕士，主要研究方向为核用机器人快换装置接口结构设计。*通讯作者：邹树梁（1956－），男，湖南醴陵人，博士，教授，博士生导师，主要从事核设施退役与核事故应急技术与装备、应急处置与安全抢险技术与装备的研究。
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