摘要
齿轮精整机械手主要用于粉末冶金齿轮自动化生产线,将冶金成型的齿轮毛坯从传送带上抓起放到冲压设备上,对齿面进行精整和硬化处理,避免人工操作引起意外事故。根据机器人的工作任务,在MATLAB中建立数学模型,进行轨迹规划,解算出各关节运动参数。在ADAMS中建立机械手仿真模型,利用解算得到的数据,用Controls Toolkits建立控制系统,通过PID环节控制关节力矩,进行运动仿真研究,通过仿真观察各关节的运动并获得驱动力矩、角速度和角加速度等参数,为齿轮精整机械手控制系统的设计、模拟运动作业提供了理论依据和主要参数,为动态特性优化设计提供理论指导。
The robot of tooth surface finish is an import mechanical device on the Auto production line of sintered metal gears. This robot automatically picks up the gears on the conveyer band, then put them on the lever punch that finish and hard the tooth surface, avoid failure accident caused by manual operation. Based on the Matlab, the mathematic model of the robot is constructed and with the explanation of the tasks, the trajectory planning of the robot was found out and the kinematics parameters were calculated by using the Robotics Toolbox for the Matlab. In addition, establish a virtual physical model in ADAMS, and construct a control system by using Controls Toolkits in ADAMS/View, controlling the torsion moment through the PID link, then go on the simulation and analysis. Based on the simulation, we observe the motion of the robot＇ s joints and obtain the data that we need. These provide the theoretic foundation and main parameters for the control system design, dynamics behavior optimization, and simulated motion of the tooth surface finishing robot.
出处
《组合机床与自动化加工技术》
北大核心
2013年第8期43-46,50,共5页
Modular Machine Tool & Automatic Manufacturing Technique
关键词
机器人
轨迹规划
建模
仿真
运动学
动力学
虚拟样机
robot
trajectory planning
modeling
simulation
kinematic
dynamics
virtual prototyping
