无损检测用机械臂动力学建模及仿真
首发时间:2017-11-20
摘要:针对手工检测复合材料结构件内部缺陷过程中存在的检测人员劳动强度大的现状,开发了一款无损检测用机械臂。根据实际检测要求,对机械臂进行逆运动学轨迹规划。运用拉格朗日功能平衡法建立机械臂动力学模型,利用ADAMS动力学仿真功能及Matlab编程方法,分别求解各关节驱动力矩。将仿真结果与理论计算结果对比,验证了动力学模型的正确性,同时为关节电机选型提供参考。最后,利用机械臂样机对复合材料结构件进行无损检测,采集图像,取得良好效果,该样机的研制为无损检测用机械臂的结构及控制优化提供了实验平台。
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Dynamic modeling and simulation of manipulator for nondestructive testing
Abstract:In view of the current situation that the nondestructive detection of composite depending on manual labor has many drawbacks, a nondestructive testing manipulator was developed. According to the actual detection process, The inverse kinematics trajectory of the manipulator was planned. Dynamics equations of the manipulator were established with application of Lagrange function equity, and the driving torques of joints were solved respectively by Matlab programming and ADAMS dynamic simulation. The simulation results were consistent with the theoretical analysis, which verified the correctness of the dynamic model. Dynamic modeling and simulation of manipulator for nondestructive testingFinally, the manipulator prototype was used to test the composite and collected images. The development of the prototype provided an experimental platform for the structure and control optimization of the nondestructive testing manipulator.
Keywords: nondestructive testing manipulator inverse kinematics dynamics joint driving torque
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