柔性驱动立筒仓清理机器人转动控制系统建模及简化

摘要

Because cables are used in the silo cleaning robot as drive components ,there must be some swing during the robot rota-tion under the joint action of the drive force and gravity .Cable modeling as well as a reasonable simplification plays a crucial role for the design of anti-swing controller modeling .Firstly,the working environment and mechanism of the robot are presented .Then the robot modeling is studied from dynamics ,and the finite segment method was adapted to model cables in ADAMS software .A simplification model,which can solve the problem of slow calculation ,was presented by further comparative analyzing on finite segment model.Finally,the simulation of robot modeling and anti-swing control was completed by joint of Matlab/Simulink and MSC.ADAMS software,which illustrated the correctness and practicality of the study .%立筒仓清理机器人在旋转运动中，由于采用钢丝绳作为驱动部件，在驱动力和重力的共同作用下必然存在一定的摆动。如何对钢丝绳建模并进行合理的简化，将对防摆动控制系统的构建起到至关重要的作用。首先给出了机器人工作环境和基本结构。其次从动力学角度详细探讨了机器人建模的方法，采用有限段模型在ADAMS软件中构建钢丝绳。针对有限段模型计算速度偏慢的问题，对有限段进行进一步对比分析，得到了简化结果。最后通过Matlab/Simulink与MSC．ADAMS软件对建模与防摆动控制进行了仿真，说明了建模与简化的正确性和实用性。