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并联机器人是一类典型的复杂机电系统,往往包含刚柔耦合、机电耦合、电液耦合等因素。采用动力学分析软件实现其多领域耦合仿真通常需借助额外的程序间接口,且用户难以进行功能和模块的扩展,而Modelica多领域统一建模语言便于统一考虑上述耦合因素,容易获得并联机器人的整机真实性能。对于包含特殊多闭链机构的并联机器人,在Modelica建模过程中往往需注意若干细节的特殊处理。文中以Delta机器人为例,基于Modelica语言建立机器人多刚体动力学模型、刚柔耦合动力学模型和机械控制耦合模型,并通过与Recurdyn软件仿真结果进行对比,验证了该建模方法的有效性。本方法亦可用于该类并联机器人的性能分析,为并联机器人的进一步设计优化奠定基础。
Parallel robot is a typical complex electromechanical system, often including rigid-flexible coupling, electromechanical coupling, electro-hydraulic coupling and other factors. Dynamic simulation software to achieve its multi-domain coupling simulation usually need to use additional inter-program interface, and the user is difficult to function and module expansion, and Modelica multi-domain unified modeling language to facilitate a unified consideration of these coupling factors, easy access to parallel robot Machine real performance. For parallel robots that contain special multi-chain mechanisms, special handling of several details is often required during Modelica modeling. Taking Delta robot as an example, a multi-body robot dynamic model, a rigid-flexible coupling dynamic model and a mechanical control coupled model are established based on Modelica language. The validity of this modeling method is verified by comparison with Recurdyn software simulation results. The method can also be used for the performance analysis of such parallel robots, laying a foundation for the further design and optimization of parallel robots.