[1]刘泽宇,冯 雷,黄道敏,等.六自由度机械臂的动力学仿真及控制[J].机械与电子,2018,(04):38-41,62.
　LIU Zeyu,FENG Lei,HUANG Daomin,et al.Dynamic Simulation and Control of Six-DOF Manipulator[J].Machinery & Electronics,2018,(04):38-41,62.
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六自由度机械臂的动力学仿真及控制
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2018年04期
页码:
38-41,62
栏目:
机电一体化技术
出版日期:
2018-04-24

文章信息/Info

Title:
Dynamic Simulation and Control of Six-DOF Manipulator
文章编号:
1001-2257(2018)04-0038-04
作者:
刘泽宇1; 冯 雷2; 黄道敏3; 周曾成1; 唐国元1
(1.华中科技大学船舶与海洋工程学院,湖北 武汉 430074; 2.武汉第二船舶设计研究所,湖北 武汉 430064; 3.武汉空军预警学院,湖北 武汉 430019)
Author(s):
LIU Zeyu1;  FENG Lei2;  HUANG Daomin3;  ZHOU Zengcheng1;  TANG Guoyuan1
(School of Naval Architecture & Ocean Engineering, Huazhong University of Science and Technology, Wuhan 430074, China; 2. Wuhan Second Ship Design and Research Institute, Wuhan 430064, China; 3. Air Force Early-Warning Academy, Wuhan 430019, China)
关键词:
六自由度机械臂;  ADAMS;  动力学仿真;  PID控制
Keywords:
six-DOF manipulator;  ADAMS;  dynamic simulation;  PID control
分类号:
TP273
文献标志码:
A
摘要:
介绍了一种六自由度机械臂装置,分析了六自由度机械臂的基本理论知识,在SolidWorks软件中建立了六自由度机械臂的模型。然后将模型导入ADAMS中,建立动力学仿真模型,通过对机械臂各部件运动的仿真分析,得出每个关节达到指定转速所需力矩,从而为各关节电机的选型提供依据。最后使用MATLAB与ADAMS进行联合仿真,在Simulink中建立控制方案,实现对机械臂各关节角的精确控制,为六自由度机械臂的发展提供设计参考及依据。
Abstract:
A six-DOF manipulator is introduced and analyzed in this paper. Firstly, the model of six-DOF manipulator was created in SolidWorks. Then, by importing the model into ADAMS, a dynamic simulation was established. Next, the torque required for each joint to achieve the specified speed was obtained based on the manipulator's motion simulation analysis, which could provide references for the selection of each joint motor. Finally, a joint simulation by using MATLAB and ADAMS was conducted, in which, the control scheme was established in Simulink to achieve precise control over each joint angle of manipulator. It could provide reference for the design of the six-DOF manipulator.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期:2017-12-14
作者简介:刘泽宇(1993-),男,山西忻州人,硕士研究生,研究方向为机电控制; 冯 雷(1986-),男,湖南湘潭人,硕士,工程师,研究方向为机电控制系统; 黄道敏(1971-),女,安徽凤阳人,副教授,研究方向为机电控制系统; 周曾成(1994-),男,湖北荆州人,硕士研究生,研究方向为机电控制系统; 唐国元(1973-),男,湖北利川人,博士,副教授,硕士研究生导师,研究方向为舰船与水下航行体运动控制,舰船机电控制系统及特种装置系统。
更新日期/Last Update: 2018-04-24