Robotic System Collision Dynamics Modeling And Simulation Analysis

The collision problem of the robot system is an important research subject in practical engineering,collision will cause great changes of form of robot system dynamics,affecting the stability and accuracy of system operation.At the same time,the larger collision force of produced during the collision may damage the system or target.Therefore,it is strong theoretical significance and practical application value to study the collision problem of robot system.The collision dynamic model of the robot system is proposed based on the collision theory of impulse of collision and impulse moment of collision in this dissertation,besides the pre-collision trajectory and dynamic response after collision is studied.The following works have been accomplished:The dynamic model of the robot system is proposed based on Lagrange equation,besides the solution model of the external impulse of collision of the system under the collision is derived according to the classical collision theory and the equation involving coefficient of restitution;The velocity of collision point is decoupled from the impulse of collision is beneficial to calculation;Based on the Newton-Euler equation,the internal impact dynamics model of serial robot system is established according to the relative coordinate method;The influence of the collision configuration of planar three bar robot on the internal and external impact is discussed.The influence of the physical parameters of the rod mass and length on the internal impact of the joint is analyzed.The closed chain system loop equation method of kinematics and Lagrange-D'Alembert formulation is introducted,and raises the first order influence coefficient matrix of the closed-chain system for set up the internal impact dynamics model.The internal impact dynamics model of closed-chain system is established according to the internal impact dynamics model of serial robot system.Taking a planar three link robot as an example to analysis the null space optimization effect for impulse of collision.The analytical solution of the inverse kinematics is established by using the null space optimization method to optimize the pre-collision trajectory according to the self motion characteristics of the joint space of redundant robot.Based on the impulse principle and Gauss' principle of least constraint,the instantaneous velocity solution equation of the robot system after collision is established according to the method of solving the extreme value of a multivariable function,the dynamic response of the systems after collision are studied by numerical simulation.