SIA OpenIR  > 其他
单臂SCARA手的动力学建模与参数辨识
Alternative TitleDynamics Modeling and Parameter Identification of Single Arm SCARA Manipulator
赵彬; 邹风山; 刘晓帆; 刘振宇
Department其他
Source Publication机械设计与制造
ISSN1001-3997
2016
Issue3Pages:82-85
Contribution Rank2
Funding Organization国家高技术研究发展863计划(2012AA041405) ; 沈阳市工业科技攻关项目(F12-010-2-00) ; 国家科技重大专项——硅片集成传输系统研发和示范应用(2014ZX02103)
Keyword真空机械手 参数辨识 拉格朗日 动力学
Abstract针对单臂SCARA手臂机械结构,获取单臂高速大气机械手的动态特性对于机器人的精确运动和动力学控制有着重要的意义。首先将SCARA型机械手动力学分为上升、旋转和伸缩三个模块进行讨论。然后提出了其等效的运动学模型,并求出运动学的正反解,同时用拉格朗日法求出了动力学方程。最后利用参数辨识的方法求解出摩擦系数。利用了MATLAB机器人工具箱对机械手的运动学和动力学进行了仿真实验,通过比较整个动态转矩和电机扭矩证明了算法的有效性。经过实际测试,该动力学可靠有效。
Other AbstractAccording to mechanical structure problem of single arm SCARA manipulator,and obtaining the structure characteristics of single arm atmospheric manipulator has important significance for accurate kinematics and dynamic control. Firstly,it divides robot into three modules of rising,rotation and stretch axis. Then puts forward to the positive and negative solution of kinematics,and calculates the dynamic equation with Lagrange method. Finally,using the method of parameter identification solves coefficient of friction. Using MATLAB robot toolbox executes kinematics and dynamics simulation experiment. It compares the dynamic torque and motor torque to prove the validity of algorithm. Through the actual test, kinematics and dynamic is reliable and efficient.
Language中文
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/17821
Collection其他
Corresponding Author赵彬
Affiliation1.沈阳新松机器人自动化股份有限公司
2.沈阳工业大学信息科学与工程学院
3.东北财经大学工商管理学院
4.中国科学院沈阳自动化研究所
Recommended Citation
GB/T 7714
赵彬,邹风山,刘晓帆,等. 单臂SCARA手的动力学建模与参数辨识[J]. 机械设计与制造,2016(3):82-85.
APA 赵彬,邹风山,刘晓帆,&刘振宇.(2016).单臂SCARA手的动力学建模与参数辨识.机械设计与制造(3),82-85.
MLA 赵彬,et al."单臂SCARA手的动力学建模与参数辨识".机械设计与制造 .3(2016):82-85.
Files in This Item: Download All
File Name/Size DocType Version Access License
单臂SCARA手的动力学建模与参数辨识.(349KB)期刊论文作者接受稿开放获取ODC PDDLView Download
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[赵彬]'s Articles
[邹风山]'s Articles
[刘晓帆]'s Articles
Baidu academic
Similar articles in Baidu academic
[赵彬]'s Articles
[邹风山]'s Articles
[刘晓帆]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[赵彬]'s Articles
[邹风山]'s Articles
[刘晓帆]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: 单臂SCARA手的动力学建模与参数辨识.pdf
Format: Adobe PDF
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.