Abstract
The article presents a method for modeling the kinematic and dynamic parameters of the robot manipulator model KUKA KR 6 R900-2. The simulation is performed using a virtual prototype of a robot designed in the KOMPAS 3-D computer-aided design system and exported to the MSC Adams software package. The prototype of the robot is represented by idealized parts corresponding to the real links of the structure. The joints of the links are implemented by articulated joints. Various options of the robot working out a given trajectory of movement with varying the angular velocity of its turns and the applied load of the potential load are investigated: the maximum speed at the maximum weight of the load, the nominal speed at the nominal weight of the load and the minimum speed at the minimum weight of the load. The specified trajectory of movement is divided into separate stages, a certain set of workloads is applied during the simulation in each. The simulation is carried out in a three-coordinate space. The result of the simulation is kinematic parameters, such as movement, speed, acceleration, and dynamic parameters – moments in the robot's joints. The obtained results allow to perform a comparative analysis of the operating loads at different stages of the trajectory, to identify unfavorable conditions, such as critical peak values of accelerations and emerging moments of forces
Highlights
The simulation is performed using a virtual prototype of a robot designed in the KOMPAS 3-D computer-aided design system and exported to the MSC Adams software package
The prototype of the robot is represented by idealized parts corresponding to the real links of the structure
The joints of the links are implemented by articulated joints
Summary
Виртуальный прототип робота-манипулятора, представленный на рис., создан в системе автоматизированного проектирования КОМПАС 3-D и состоит из 6 идеализированных деталей (table_0, forearm_1, shoulder_2, elbow_3, wrist_4, brush_5), соответствующих звеньям робота: от основания (table_0) до исполнительного конечного звена (brush_5). Для имитации рабочих нагрузок к шарнирам table_0–forrearm_1, forrearm_1–shoulder_2 и shoulder_2–elbow_3 посредством команды RevolutionJointMotion приложены скорости вращения, заданные при помощи шаговой функции STEP. Влияние положения исполнительного звена составляющей 50% от максимального значения, на точность его позиционирования связано с кон- и при номинальной средней массе груза [3,35] кг; структивными особенностями робота и возника- вариант No3 – движение с низкой скоростью, соющими в процессе движения кинематическими и ставляющей 10 % от максимального значения, и динамическими нагрузками, такими как ско- при минимальной нагрузке (масса груза 0,67 кг).
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