基于ADAMS的装车机器人运动分析
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摘要
为了提高装车机器人的运动平稳性,采用UG和ADAMS软件联合仿真的方式,对装车机器人进行了运动分析。首先利用UG对机器人进行三维建模,并利用ADAMS建立机器人的虚拟样机模型。然后建立梯形曲线、S形曲线的速度模型,仿真分析这两种速度曲线对机器人运行稳定性的影响。针对S形曲线中加速段和减速段加加速度不连续,提出了一种三次S曲线加减速控制算法。仿真结果表明,三次S曲线加减速控制算法能够保证加速度和加加速度的平稳变化,避免产生大的冲击,使机器人运动更加平稳,为机器人的运动控制及优化提供了参考。
In order to improve the motion stability of the loading robot,the kinematic analysis of the loading robot was carried out by using UG and ADAMS software. Firstly the 3 D solid model of the loading robot was built by UG,and the virtual prototype model of the robot was established by ADAMS. Then the velocity model of trapezoidal curve and S-shaped curve was established,and the influence of these two curves on the running stability of robot was analyzed by simulation. In view of the jerk discontinuity of the acceleration section and deceleration section in S-shaped curve,a cubic S curve acceleration and deceleration control algorithm was proposed. The simulation results show that the cubic S curve acceleration and deceleration control algorithm can ensure the smooth variation of acceleration and jerk,avoid large impact,and makes the robot motion more stable,which provides a reference for the optimal design of the robot.
In order to improve the motion stability of the loading robot,the kinematic analysis of the loading robot was carried out by using UG and ADAMS software. Firstly the 3 D solid model of the loading robot was built by UG,and the virtual prototype model of the robot was established by ADAMS. Then the velocity model of trapezoidal curve and S-shaped curve was established,and the influence of these two curves on the running stability of robot was analyzed by simulation. In view of the jerk discontinuity of the acceleration section and deceleration section in S-shaped curve,a cubic S curve acceleration and deceleration control algorithm was proposed. The simulation results show that the cubic S curve acceleration and deceleration control algorithm can ensure the smooth variation of acceleration and jerk,avoid large impact,and makes the robot motion more stable,which provides a reference for the optimal design of the robot.
引文
1孙浩.码垛机器人的设计与研究[D].淄博:山东理工大学,2013Sun Hao. The design and research of palletizing robot[D]. Zibo:Shandong University of Technology,2013
2 陈雪.机器人加减速阶段的S曲线优化方法的研究[J].机械传动,2015,39(12):157-160Chen Xue. Research of the S curve optimization method of the robot acceleration and deceleration[J]. Journal of Mechanical Transmission,2015,39(12):157-160
3 Haddad M,Khalil W,Lehtihet H E. Trajecto-ry planning of unicycle mobile robots with a trape-zoidal-velocity constraint[J]. IEEE Transactions on Robotics,2010,26(5):954-962
4 韩兴,李昌,于晓光,等.基于ADAMS/View明弧焊接机器人运动仿真分析[J].焊接学报,2013,34(4):69-72,116Han Xing,Li Chang,Yu Xiaoguang,et al. Kinematic simulation analysis of open arc welding robot based on ADAMS/View[J].Transactions of the China Welding Institution,2013,34(4):69-72,116
5胡涛.基于CODESYS的自动装车机器人控制系统研究[D].青岛:山东科技大学,2017Hu Tao. Study on control system of automatic palletizing robot for trucks based on CODESYS[D]. Qingdao:Shandong University of Science and Technology,2017
6 胡国栋,许礼进.基于ADAMS的码垛机器人动力学优化分析[J].起重运输机械,2013,(8):78-81Hu Guodong,Xu Lijin. Dynamic optimization analysis of palletizing robot based on ADAMS[J]. Hoisting and Conveying Machinery,2013,(8):78-81
7 胡文奇,辛舟,张伟程.铝锭伺服堆垛机z轴速度分析及仿真[J].机械制造与自动化,2017,46(3):116-118Hu Wenqi,Xin Zhou,Zhang Weicheng. Analysis and simulation of z-axis speed of aluminum ingot servo stacker[J]. Machine Building&Automation,2017,46(3):116-118
8 Chen C S,Chen L Y. Cross-coupling position command shaping control in a multi-axis motion system[J]. Mechatronics,2011,21(1):625-632
9 赵翔宇.数控系统的加减速控制及在高速加工中的应用[D].兰州:兰州交通大学,2015Zhao Xiangyu. The acceleration and deceleration control and the application of high speed machining of the CNC system[D]. Lanzhou:Lanzhou Jiaotong University,2015
10 石川,赵彤,叶佩青,等.数控系统S曲线加减速规划研究[J].中国机械工程,2007,18(12):1421-1425Shi Chuan,Zhao Tong,Ye Peiqing,et al. Study on S-shape curve acceleration and deceleration control on NC system[J]. China Mechanical Engineering,2007,18(12):1421-1425
2 陈雪.机器人加减速阶段的S曲线优化方法的研究[J].机械传动,2015,39(12):157-160Chen Xue. Research of the S curve optimization method of the robot acceleration and deceleration[J]. Journal of Mechanical Transmission,2015,39(12):157-160
3 Haddad M,Khalil W,Lehtihet H E. Trajecto-ry planning of unicycle mobile robots with a trape-zoidal-velocity constraint[J]. IEEE Transactions on Robotics,2010,26(5):954-962
4 韩兴,李昌,于晓光,等.基于ADAMS/View明弧焊接机器人运动仿真分析[J].焊接学报,2013,34(4):69-72,116Han Xing,Li Chang,Yu Xiaoguang,et al. Kinematic simulation analysis of open arc welding robot based on ADAMS/View[J].Transactions of the China Welding Institution,2013,34(4):69-72,116
5胡涛.基于CODESYS的自动装车机器人控制系统研究[D].青岛:山东科技大学,2017Hu Tao. Study on control system of automatic palletizing robot for trucks based on CODESYS[D]. Qingdao:Shandong University of Science and Technology,2017
6 胡国栋,许礼进.基于ADAMS的码垛机器人动力学优化分析[J].起重运输机械,2013,(8):78-81Hu Guodong,Xu Lijin. Dynamic optimization analysis of palletizing robot based on ADAMS[J]. Hoisting and Conveying Machinery,2013,(8):78-81
7 胡文奇,辛舟,张伟程.铝锭伺服堆垛机z轴速度分析及仿真[J].机械制造与自动化,2017,46(3):116-118Hu Wenqi,Xin Zhou,Zhang Weicheng. Analysis and simulation of z-axis speed of aluminum ingot servo stacker[J]. Machine Building&Automation,2017,46(3):116-118
8 Chen C S,Chen L Y. Cross-coupling position command shaping control in a multi-axis motion system[J]. Mechatronics,2011,21(1):625-632
9 赵翔宇.数控系统的加减速控制及在高速加工中的应用[D].兰州:兰州交通大学,2015Zhao Xiangyu. The acceleration and deceleration control and the application of high speed machining of the CNC system[D]. Lanzhou:Lanzhou Jiaotong University,2015
10 石川,赵彤,叶佩青,等.数控系统S曲线加减速规划研究[J].中国机械工程,2007,18(12):1421-1425Shi Chuan,Zhao Tong,Ye Peiqing,et al. Study on S-shape curve acceleration and deceleration control on NC system[J]. China Mechanical Engineering,2007,18(12):1421-1425