大型模具曲面微小研抛机器人动力学仿真

提出了一种可以在大型模具曲面上进行研抛的微小机器人结构,机器人采用轮式移动方式,可以在行走中作业。针对其同时具有非完整约束和完整约束的特点,建立机器人运动坐标系,附加约束方程作为系统输入,利用Lagrange方法建立了微小研抛机器人多体系统动力学模型。通过动力学仿真分析,得到了比较稳定的机器人动力学特性曲线。

Research on Dynamics Simulation of Small Polishing Robot

A structure of robot for polishing on large mould free-form surfaces was presented. The small polishing robot is a kind of wheeled mobile robot. It can accomplish machining while it is moving on large workpiece surfaces. Based on the structure of a small polishing robot, the coordinate system was established. According to the feature that nonholonomic constraints and holonomic constraints existed simultaneously, the constraint equation was set up. Accordingly, the dynamic model of a small polishing robot was established by using Lagrange method. And then, dynamics simulation was conducted, the curves of displacement, velocity, acceleration and driving torque were analyzed. The results of dynamics simulation indicated that the dynamic character of a small polishing robot is stable. This small polishing robot is applied and feasible.