三自由度机械手雅可比矩阵的建立及动力学仿真
蔡玉强，张文瑞
（华北理工大学 机械工程学院，河北 唐山 063210）
摘要：基于ADAMS的仿真技术，对工业机械手进行运动学和动力学仿真上的分析。对于三自由度工业拾取机械手，通过D-H方法[1]建立每个连杆的参考坐标系，首先研究了机械手的主要理论及数学基础，得到了机械手运动学的方程，给出抓取机械手的每个连杆与末端执行器之间的姿势关系，并推导出机械手的运动学方程，利用微分变化法获得雅可比矩阵。通过连杆间力和力矩的递推求得力雅可比矩阵以验证机械手建立的正确性。然后在ADAMS中对机械手运动进行仿真使用后处理模块，在各个关节处分别添加驱动函数，并验证了该机制的可行性。
关键词：机械手；三自由度；雅克比矩阵；ADAMS
中图分类号：TH113 文献标志码：A doi：10.3969/j.issn.1006-0316.2020.12.009
文章编号：1006－0316 (2020) 12－0061－07
The Establishment and Dynamics Simulation of Three-Degree-of-Freedom Manipulator Jacobian Matrix
CAI Yuqiang，ZHANG Wenrui
( School of Mechanical Engineering, North China University of Science and Technology, Tangshan 063210, China )
Abstract：Through the simulation technology based on ADAMS, this paper analyzes the kinematics and dynamics simulation of industrial machinery. For the three-degree-of-freedom industrial pick-up robot, the reference coordinate system of each link is established by the DH method. First, the main theory and mathematical foundation of the robot are studied, and the kinematics equations of the robot are obtained. The posture relationship between the connecting rod and the end effector is derived, the kinematic equation of the robot is developed, and the Jacobian matrix is obtained by the differential change method. Through the recursion of the force and moment between the connecting rods, deli Jacobian matrix is obtained to verify the correctness of the robot establishment. Then the manipulator motion was simulated in ADAMS using the post-processing module. The driving function was added to each joint respectively, and the feasibility of the mechanism was verified.
Key words：manipulator；three-degree-of-freedom；Jacobian matrix；ADAMS
———————————————
收稿日期：2020－07－14
基金项目：河北省教育厅项目（2019GJJG216）；华北理工大学博士启动基金项目（BS2017094）
作者简介：蔡玉强（1967－），男，河北唐山人，博士，教授，主要研究方向为机械机构学与机械动力学，E-mail：caiyq@ncst.edu.cn。
- 上一篇：主动共振式消声器的性能优化研究
- 下一篇：一种基于改进FAST的缆芯角度识别算法
设为首页 | 加入收藏 | 免责条款
《机械》杂志版权所有 Copyright©2008-2012 Jixiezazhi.com All Rights Reserved
电话：028-85925070 传真：028-85925073 E-mail：jixie@vip.163.com
地址：四川省成都锦江工业开发区墨香路48号 邮编：610063
Powered by PageAdmin CMS