选矸机械臂刚柔耦合动力学分析

周志宏　彭金艳　李琳琳　杨胜兵

摘要：选矸机械臂的组成关节在进行作业活动时存在弹性形变的现象，会影响到其整个作业轨迹的位置精度和控制的实时性与准确性。针对所设计的4R选矸机械臂，首先建立其刚柔耦合动力学的理论模型，并在理论模型的基础上通过使用CAD软件SolidWorks与动力学仿真软件ADAMS完成机械臂作业时的刚柔耦合动力学联合仿真得到了其动态变形误差数据。仿真表明机械臂末端的位移误差在0.2～0.7 mm有规律的上下浮动，当机械臂末端位移到最低处时产生的位移误差达到最大，且位移误差每两秒为一个变化周期，为后续的结构优化和控制系统的设计提供了参考依据。

关键词：选矸机械臂;刚柔耦合;ADAMS;柔性关节

中图分类号：TP242.2

文献标识码：A文章编号：1001-5922（2022）06-0168-04

Dynamic analysis of rigid-flexible coupling of waste manipulator

ZHOU Zhihong PENG Jinyan LI Linlin YANG Shengbing

（

1. Hunan Sanyi Industry Vocational and Technical College， Changsha 410129， China; 2. School of Automobile Engineering， Wuhan University of Technology， Wuhan 430070， China

）

Abstract： The component joints of the gangue selection manipulator are elastically deformed during work activities， which will affect the position accuracy of the entire work trajectory and the real-time and accuracy of control. For the designed 4R gangue selection manipulator， firstly establish its rigid-flexible coupling dynamics theoretical model， and use CAD software SolidWorks and dynamics simulation software ADAMS on the basis of the theoretical model to complete the rigid-flexible coupling dynamics of the manipulator. The dynamic deformation error data is obtained by the joint simulation. The simulation shows that the displacement error of the end of the robotic arm fluctuates regularly between 0.2 and 0.7 mm. When the end of the robotic arm is displaced to the lowest point， the displacement error will reach the maximum， and the displacement error will change every two seconds. It provides a reference basis for subsequent structural optimization and control system design.

Key words：gangue selection manipulator; rigid-flexible coupling; ADAMS; flexible joints

选矸机械臂的组成连杆和转动关节都具有一定程度的柔性，在进行作业的时候会发生弹性变形，这严重影响到其整个运动轨迹的位置精度和控制的实时性与准确性[1]。侯小雨建立了将串联机器人关节柔性考虑在内的动力学模型研究了影响末端定位精度的因素[2];陈宵燕建立了一种包含几何与柔性误差的串联机器人刚柔耦合位置误差模型并提出了相应的精度提高策略[3]

本文针对所设计的4R选矸机械臂，通过ADAMS中的扭簧功能建立其刚性连杆-柔性转动关节刚柔耦合系统对作业过程中的动态响应做了研究，通过对比柔性关节-刚性连杆模型和刚体模型的仿真数据得到了其运动变形误差数据，为后续的结构优化和控制系统的设计提供了参考依据。……