六自由度工业机械臂动力学模型简化分析

摘要

Dynamic of Six Degree Of Freedom(DOF)industrialrobotis are analysed by Lagrange equation.However,whenthe number of joints'DOF is more than three,it is difficulty to calculate the integrated expression because of thecomplexity ofLagrange equationexpansions.In this paper,the six-DOF industrial robot's structure meets the demand of Pieper rule,soonly joints one to three are considered and wrist joints are considered as external disturbances of dynamic effect.Under this condition,dynamic can be analysed and contrasted by ADAMS.The simulation result shows that compared with dynamic of six-DOF industrial robot,dynamic of the first three joints get the generality and small error.%拉格朗日方程是通用六自由度工业机械臂进行动力学分析的常用方法.然而,当关节自由度多于三时,其动力方程的展开式相当复杂,完整地求出其表达式并不现实.考虑到通用工业机械臂的满足Pieper准则的特殊结构,只考虑机械臂的前三关节,并将腕部三个关节看作为动力效应的外部干扰,对其进行动力学分析,并通过ADAMS进行对比验证.结果表明,当只考虑机械臂前三关节时其动力学特性与考虑全部六关节相比不失一般性,且具有较小的误差.