Dynamic Modeling And Analysis Of Tandem Robot System

Robots are widely used in various fields,and their popularity determines the level of processing and manufacturing in a country.Therefore,many experts at home and abroad have conducted in-depth research on robot-related fields,especially for the modeling method of system dynamics,which has extremely important practical significance for the field of robot dynamics control.This topic is based on the series three-degree-of-freedom robot,the mechanical dynamics model is established by using the robot arm and the motor as a controlled object.The specific work is as follows:(1)Analyze the structural parameters of the laboratory RBT-6T/S03 S robot,establish the robot coordinate system according to the D-H rule,build the kinematics model of the six-degree-of-freedom manipulator,and obtain the position mapping between each joint and the end.The simulation of robot kinematics was carried out using MATLAB.(2)Combine the advantages of vector method and differential method,and establish the speed/acceleration Jacobian matrix of the manipulator,and obtain the velocity/ acceleration map between each joint and the end.(3)Study the dynamic ontology modeling based on three-degree-of-freedom robot.According to the established coordinate system and manipulator structure parameters,the Lagrangian equation is used to establish the dynamic model of the three-degree-offreedom manipulator,and the mapping relationship between the joint dynamics parameters and the moment is obtained.The U-K theory is used to solve the external part of the manipulator driving force.The relationship between the displacement and the moment of the manipulator is verified by MATLAB.(4)Combine the robot arm and the motor,analyze the system as a controlled object,analyze the electromagnetic torque and load torque characteristics of the motor,and the corresponding relationship between the motor side and the arm side,and establish a system Kinetic model based on the three-degree-of-freedom robot.The correctness of the model is verified by MATLAB simulation.