一种自主研磨作业机器人动力学仿真

摘要

研究了一种由直角坐标机构、转动机构和摆动机构构成的自主研磨作业机器人的运动学和动力学分析，以支链构件相对坐标和动平台绝对坐标作为广义坐标，结合Lagrange方法建立了运动学和动力学模型，并利用M atlab软件平台进行了运动学及动力学仿真，仿真结果说明了该模型的正确性与实效性，进而为自主作业机器人的轨迹规划及控制研究提供参考。%T he kinematics and dynamics analysis of an autonomous grinding robot consisted by rectangular coordinates agencies ,rotating mechanism ,and swing mechanism in this paper .The branched-chain member coordinates and moving platform absolute coordinates are used as generalized coordinates .T he kinematics and dynamics models combining with Lagrange method ,and kinematics and dynamics simulations have been made to by using Matlab software platform .The simulation results show the correctness and the effective-ness of the proposed models .Furthermore ,they are the very valuable references for contrail plan and mo-tion control design of the autonomous robot .