郑坤明,张秋菊.Delta机器人弹性动力学建模与模态分析[J].包装工程,2015,36(21):62-69.
ZHENG Kun-ming,ZHANG Qiu-ju.Elastic Dynamic Modeling and Modal Analysis of Delta Robot[J].Packaging Engineering,2015,36(21):62-69. |
| Delta机器人弹性动力学建模与模态分析 |
| Elastic Dynamic Modeling and Modal Analysis of Delta Robot |
| 投稿时间：2015-03-07 修订日期：2015-11-10 |
| DOI： |
| 中文关键词: Delta机器人 有限元理论 弹性动力学模型 模态分析 |
| 英文关键词: Delta robot finite element theory elastic dynamic model modal analysis |
| 基金项目:教育部中央高校基本科研业务重点专项基金 （JUSRP51316B） |
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| 中文摘要: |
| 目的 建立Delta机器人弹性动力学模型， 研究其动态特性。方法 基于有限元理论和Lagrange方程， 充分考虑主动臂与从动臂的空间动力学特性与运动协调关系， 建立Delta机器人系统弹性动力学模型； 根据系统结构参数， 制造装配出Delta机器人物理样机， 对所建立的弹性动力学模型进行验证分析；利用Ansys Workbench对Delta机器人进行模态分析。结果 动平台中心点位移的数值解与试验得到的结果吻合度较好， 结合Matlab， 对比系统的前6阶固有频率， 最大频率误差为3.912%； 元件刚性假设前后系统的最大频率误差为1.693%； 确定了机器人从动臂为系统的薄弱环节。结论 验证了Delta机器人系统弹性动力学模型的正确性及建模过程中静、 动平台与转动关节刚性假设的合理性， 且改善从动臂的结构参数能提高机器人的整体动态性能， 为Delta机器人的结构优化和减振控制提供了理论依据。 |
| 英文摘要: |
| This study established the elastodynamic model of Delta robot and analyzed its dynamic characteristics. Based on the finite element theory and lagrange equation, in fully consideration of the active arm and the driven arm′ s spatial dynamic characteristics and motion coordination, the systematic elastic dynamic model of Delta robot was established. According to the structure parameters of the system, the physical prototype of Delta robot was manufactured, and the elastic dynamic model was verified. Then, the Delta robot modal analysis was carried out using Ansys Workbench. The numerical solution of displacement of moving platform was in line with the result of test. Combined with Matlab, compared to the results of numerical calculation and simulation of the first six order natural frequency of the system, the maximum frequency error was 3.912%; compared to before and after element rigid assumptions, the system′ s maximum frequency error was 1.693% , verifying the rationality of static avnd moving platforms and the rotating joint rigid assumptions in the process of elastic dynamics modeling. It was determined that the driven arm robot was the weak link of the system. The weak link needed to be improved to improve the dynamic performance of the whole robot. This study verified the rationality of static and moving platforms and the rotating joint rigid assumptions in the process of elastic dynamics modeling, improved the structure parameters of the driven arm to improve the overall dynamic performance of the robot, and provided theoretical basis for the structural optimization and vibration control of Delta robot. |
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