排爆机器人五自由度操作臂动力学分析

摘要

Based on the development of explosive disposal robot and the real structure of five -degree of freedom manipulator assembled on the mobile platform , it measures and calculates the inertial parameters of the manipu-lator, establishes the dynamic model and Lagrange dynamic equation .Based on the simulation of the grasping mission, it plans the five order polynomial motion laws for the five joints , and illustrates the torques of each joint through dynamic equation .Combined with performance parameters of motors , it demonstrates the rationality of motion laws.%结合排爆机器人的研制，针对安装于排爆机器人移动平台上的五自由度操作臂实际结构，首先测算出操作臂的惯性参数，并由此建立动力学模型，推导出拉格朗日动力学方程和参数；然后模拟排爆抓取任务，规划了操作臂各关节三段式五阶多项式运动规律，由动力学方程仿真求得各关节电机的力矩变化规律，并结合电机性能参数验证了运动规划的合理性。